通过机器人腹腔镜微创外科手术的术前摆位分析,使双器械臂具有较为合理的操作空间,以避免双器械臂在缝合、打结等协同手术操作中的运动干涉.首先,将两器械臂之间的最大距离指标作为梯度投影算法的优化目标函数,并利用双器械臂的封闭逆解方程对梯度投影法进行改进,较好地消除投影梯度法在逆解求解过程中存在的累积误差.最后,将改进的梯度投影算法应用于腹腔微创外科手术机器人术前摆位分析中,仿真结果表明该方法能够满足系统对术前摆位的要求. Through preoperative positioning analysis of robotic laparoscopic minimally invasive surgery, the dual instrument arm has more reasonable operation space to avoid the movement interference of the double instrument arm in the cooperative surgery operation such as suturing and knotting.First, the two instruments The maximum distance between two arms as the optimal objective function of the gradient projection algorithm and the closed projection solution of the two arms are used to improve the gradient projection method so as to eliminate the cumulative error of the projection gradient method Finally, the improved gradient projection algorithm was applied to preoperative positioning analysis of minimally invasive celiac robotic surgery, the simulation results show that the method can meet the system requirements for preoperative positioning.