Design and experimental validation of a master manipulator with position and posture decoupling for laparoscopic surgical robot

Abstract

Background:The master manipulator with position and posture decoupling and force feedback can improve the immersion of the operation, and the gravity balance can reduce the fatigue of surgeons.Methods: A seven degree of freedom master manipulator is developed. The parallelogram structure and the angle conversion method contribute to the realization of decoupling position and posture. The calculating method based on the virtual work principle is adopted to achieve the passive gravity balance. The relationship between the master manipulator's joint torque and output force is established to achieve force feedback.Results: A prototype of the master manipulator was built and its performance was experimentally evaluated. The maximum value of the positioning mean absolute error is 1.2 mm. The maximum absolute error of the force-feedback is 0.32 N. Conclusion:With the functions of positioning, gravity balance, and force feedback, our manipulator shows the potential for single port laparoscopic surgery.

Development of A master teleoperated manipulator for A hydraulic rescue robotic arm

“…China; Teleoperated systems have been researched for more than 70 years, since Argonne National Laboratory created the first master-slave teleoperated robot. The master-side manipulator [8,9], a crucial part of the teleoperated robot, serves as a middleman between the operator and the slave and carries out human-machine interaction. Its primary purpose is to forward transmit the operator's operating intention and to reverse feedback the force between the slave manipulator and the environment in order to combine the benefits of humans and machines and to extend human behavioral capabilities.…”

Dimensional optimisation and an inverse kinematic solution method of a safety‐enhanced remote centre of motion manipulator

“…Teleoperated minimally invasive surgery (MIS) technology has become one of the practical solutions for surgical operation due to lesser trauma, faster recovery, and shorter postoperative complications for patients. [1][2][3] Driven by the benefits of these technologies, several types of surgical robots have been used in surgery, 4 such as cystectomy, 5 urological, cardiac, cosmetic surgery, 6,7 and thymectomy. 8,9 1.…”