2A1-L04 Development of Master Manipulator with High Usability for Microsurgical Robotic System(Surgical Robotics and Mechatronics (1))

Abstract

Microsurgery requires elaborate and precise operation under a microscope. The master-slave microsurgical robotic system developed by our group for micro-neurosurgery successfully demonstrated the anastomosis of 0.3 mm blood vessels. However, the task completion time was longer than that of manual microsurgery because of the high motion scaling ratio (1/7) and poor usability of the master manipulators. To enhance system usability and shorten task completion time, we designed a master manipulator that can be operated without moving the operator's arms and at a low motion scaling ratio of 1/3. We performed preliminary experiments to evaluate the newly-designed master manipulator. The results suggest that the proposed system would achieve high accuracy in microsurgery while shortening the task completion time.