الفهرس 
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Abstract
This project is about the application of a robot assistance in minimally invasive surgeries. While many methods were proposed for minimally invasive surgery, most of them have mechanical constraints limiting the robot’s movement by using mechanical constraints to keep the Remote Center of Motion (RCM) coincide with the trocar (incision point) on the patient’s body, through which the medical tool can be inserted. We inherit a different approach, where we obtain a programmable RCM that can be easily mapped in the future to be used also for open surgery and it would also be easier to extend the task that the robot can execute in a more dynamic way. An architecture for the control of a moving RCM will be introduced, which allows the insertion of a medical tool through the trocar, where a small mechanical cylinder is put to constrain the movement of the medical tool by minimizing the error between the RCM and the trocar positions. The RCM lives on the surgical tool and can dynamically change based on how much the tool should enter the patient’s body. Another important aspect that should be taken into consideration is the fact that the robot should consider that the reference point will be affected by the patient’s breathing and heart beats and this is achieved by estimating the external forces acting on the system. After building the kinematic model, dynamic model and control law for the KUKA LWR robot, we ran several experiments to see how the different parameters are behaving on our specific task.