Inverse Kinematics Analysis, Size Optimization and Error Analysis of Urology Surgical Manipulator

Abstract

This article is mainly about the study of Urology Surgical Manipulator for laser ablation of prostate lesions. Firstly, the characteristics of the operation process are analyzed, and the inverse kinematics of the serial manipulator is calculated by the characteristics of the operation. The solution is the precondition of controlling the motion of the manipulator. Secondly, the genetic algorithm is used to optimize the size of the manipulator by verifying the inverse kinematics solution, which makes the size of the manipulator more compact while the predetermined function is realized. Finally, considering the characteristics of the actual mechanical system, using Monte Carlo method to simulation and calculate the error of the end effector, it is verified that the manipulator meets the accuracy requirements of the actual operation.