Master manipulator optimisation for robot assisted minimally invasive surgery

Abstract

Background In robot‐assisted minimally invasive surgery, the surgeon controls a robot by operating a pair of master manipulators. Thus, the performance of a master manipulator directly affects the work of the surgeon physiologically and psychologically. Aims In order to improve the operability and quality of operation, a structure optimisation method of master manipulator is proposed. Materials & Methods The optimisation index of workspace and dexterity of main manipulator based on ergonomics and kinematics is established, and the reasonable weight coefficient of optimisation index is determined by using combination weighting method. Results Experiments verified that the proposed optimisation method ensures a large workspace and good kinematic performance for the master manipulator. Conclusion This improves the comfort of the surgeon and can effectively avoid the problem of cutting off master–slave communication to adjust the position of the master manipulator owing to the small workspace.

Modeling and design optimization of master manipulator for robot-assisted minimally invasive surgery

“…Based on this, the following assumption is considered to be reasonable: the forearm always keeps in contact with the armrest board and moves edgeways. Although Feng et al 22 established the model of the surgeon’s arm, the arm could not translate horizontally, and only the cartesian position could be acquired, no posture. Thus, a more contextual kinematics model of the surgeon’s right arm is established and shown in Figure 4.…”

An ergonomic comfort workspace analysis of master manipulator for robotic laparoscopic surgery with motion scaled teleoperation system

“…A wellconditioned and dexterous workspace is a desirable characteristic for all manipulators. Many researchers have used the manipulator workspace as an important performance index [25][26][27] to optimise master manipulator for MIS. In addition, the concept of an ergonomic shared workspace 28 is proposed by combining the master workspace, human arms, and human-robot interaction workspace, and based on this, improve the performance of teleoperation in terms of task completion time and the number of clutching through kinematic optimization of the master.…”