Research on displacement compensation algorithm of tactile sensor on the beating heart

In robot-assisted surgery system, the method of compensating the relative motion between the surgical site on the heart and the surgical instruments was introduced by using tactile sensor in this paper. Three-dimensional space coordinate systems were established, including the world coordinate system, surgical instruments and tactile sensor coordinate system. Space coordinate was transformed between the three coordinate systems through the way of mathematical theory. Compensation algorithm theory formulas about the beating heart were derived, including the rotation matrixes of the coordinate system, the equations, etc. According the data of the tactile sensor, the relative displacement of the surgical instruments coordinate system was calculated compared with the world coordinate system. Finally, Conclusion is obtained by compensation example analysis.