Master-slave control strategy for minimally invasive surgery with a fast inverse kinematics solution

In this work we present a teleoperation for a surgical robot with a fast inverse kinematics solution. The work contains a full robot kinematics model and the teleoperation process. The errors that occurred in the establishment of the inverse kinematics model are analyzed in detail and corresponding compensation measures are given. A robot operating system (ROS) interface has been created for easy use and development of common software components. Moreover, several scenes have been implemented to illustrate the performance and potentiality of the developed algorithm.