Robot Surgery operates in various movements using a small tool in a narrow task space. For the operation of the surgical instrument to respond quickly, it is important that possibly each joint is operated to maintain a high angle. This paper presents a control method using the Jacobian and Manipulability index of surgical instrument to actuate the linear actuator to a favorable position on the next action.
['Geon Won', 'Jung-Hoon Hwang', 'Chang-Woo Park']
Design of control and simulation using surgical instrument of Manipulability