A highly intuitive and ergonomic redundant joint master device for four‐degrees of freedom flexible endoscopic surgery robot

Abstract

Background Studies have been conducted on slave‐specific master devices with a similar kinematic structure to the slave to enhance intuitiveness. However, for the four‐degrees of freedom (DOFs) slave of a flexible endoscopic surgery robot, only four DOFs in the master device causes low ergonomic performance. Methods To enhance ergonomic performance, a second yaw joint was added as a redundant joint after considering the range of wrist motion and the workspace shape. Three experiments were performed to compare the intuitiveness and ergonomic performance of the proposed device with four‐DOFs slave‐specific and six‐DOFs general‐purpose master devices. Results Significant differences were observed in terms of intuitiveness performance between the slave‐specific and the general‐purposed master device. On the other hand, there was no significant difference in ergonomic performance between the master devices with redundant joint. Conclusions Compared with a general‐purpose master device, the proposed one exhibited noticeably improved intuitiveness performance and comparable ergonomic performance.

An advanced endoscopic surgery robotic platform for removal of early-stage gastrointestinal cancer using endoscopic submucosal dissection

“…It has a distal articulated cap that can be opened into the left and right half which can provide smooth insertion and increases the separation distance of the two robotic arms for better triangulation manipulation. The Master and Slave Transluminal Endoscopic Robot (MASTER) developed by Nanyang Technological University (Cao et al, 2019) and the K-Flex system developed by Korea Advanced Institute of Science and Technology (Ahn et al, 2021) also focus on endoscopic surgery. They depend on a specially designed endoscope as a carrier to build the robotic arms to the destined location.…”

“…" %'(" ! #" " #" # #" $ )(" $ %" " ) (1) (2) ivative of the task space vector, 𝑞𝑞 ⃑ ̇ is the derivative of actuator space obian matrix. This robotic system involves two kinematic mappings, 𝑔𝑔 previous sub-section.…”

Design and experiment of a 3‐DoF master device with a 2‐DoF parallel mechanism for flexible ureteroscopy

“…In addition, the pose of the master device can be directly obtained through supporting software, avoiding the process of solving the forward kinematics and reducing the integration difficulty. However, insufficient workspace and low intuitiveness limit the suitability of commercial master devices for a special‐designed slave robot, especially in the efficiency of surgery 11 …”

“…However, insufficient workspace and low intuitiveness limit the suitability of commercial master devices for a special-designed slave robot, especially in the efficiency of surgery. 11 Roboflex includes a slave-specific surgeon console to control the 3-DoF motion of the flexible ureteroscope by two joysticks, which need to be operated by both hands. 6 Inspired by the motion of the ureteroscope in FURS, two different 3-DoF master manipulators have been proposed in our previous research to provide intuitive operation.…”

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

“…20 Ahn et al designed a five-DoF master manipulator according to the characteristics of the "K-FLEX" endoscopic surgical robot. 21,22 At present, the available master manipulators take more consideration in the control intuition of slave manipulators, with less research on the DPP, though which is an important part in the ergonomic design of a master manipulator.…”