An Early Warning Algorithm for Operation Instruments’ Collision Based on Projection Plane

Aiming at the safety issue of the surgical robot,the early warning technology for operation instruments' collision is studied.The model of the two-arm surgical robot is stated,and the kinematic coordinate system is established based on Denavit-Hartenberg method(D-H method).The cylinder boxes for the subassemblies of each instrument are set up,and the early warning algorithm for collision of the instruments based on the projection plane is proposed according to the theory that the axes of the two boxes have the common perpendicular line.The simulation results show that the algorithm can be employed in the early warning for the collision of the instruments availably,and it sets good base for the future minimally invasive surgery simulation and the real operation using the robot.