Kinematic analysis of a novel 3-DoF manipulator for a laparoscopic surgery robot

The kinematic model of a novel 3-DoF manipulator for laparoscopic surgery robot is developed in this paper. The kinematics of the manipulator is analyzed using screw theory and product-of-exponentials formula. The direct kinematic problem and inverse kinematic problem of the manipulator are analyzed according to surgery application. Isotropy is obtained based on Jacobian matrix. Analytical expressions are presented and the results are in good agreement with simulation and experiment.