A Position Control System for a Single-port Laparoscopic Manipulating Robot

The research herein proposes a position control system, designed for a single-port surgical robot, based on the lockup table method. The programmable logic controller (PLC) was implemented to move the single- port surgical robot and handle laparoscope and surgical instruments with feedback control. The output responses of the desired angle were investigated under several conditions. The rotating angle allows movement of the laparoscope in the range of -10
^o
to +10
^o
. The error of the desired position of the designed system was less than approximately ± 0.1
^o
. Moreover, the output data from several experiments may be employed to improve the open-loop control systems. This system is also capable of providing computer vision task implementation, enabling semi- automatic or automatic surgery in the future.