Mechanism Design and Optimization of a Haptic Master Manipulator for Laparoscopic Surgical Robots

Abstract

Serve as the human-robot interface of laparoscopic surgical robot, the master device always plays a crucial role in terms of master-slave manipulation. Growing demands of robot-assisted surgery system also warrant more rational design and optimization for the master manipulator mechanism, which turn out to be important for improving the performance of surgical operations. In this paper, a novel 9 degrees of freedom (DOFs) haptic master manipulator applied to laparoscopic surgical robots is proposed. First of all, the mechanical configuration of the serial master manipulator is presented along with its corresponding kinematic analysis. The proposed strategy can decouple the posture and position completely and to a certain extent simplify the kinematics calculations. Then a mechanism optimization index which synthesizes the global kinematic performances, the global positioning accuracy and the structure length utilization of the manipulator mechanism is introduced. Finally, an improved particle swarm optimization algorithm is proposed to find the optimal mechanism design parameters. The optimization index and algorithm are verified by comparing the optimized parameters with the initial settings. Theoretical analysis and optimization results have demonstrated that the master manipulator can achieve better kinematic performances while maintaining 6 dimensions force feedback.

Master manipulator optimisation for robot assisted minimally invasive surgery

“…The dexterity was between 0.7 and 0.9 in the working space, Figure 6 shows the dexterity of the working plane located at the edge of the working space, where the dexterity is prone to turn bad. The average dexterity is 0.815; the values were much higher than for those of the optimised master manipulator in 7,30 .…”

“…To avoid frequent positional adjustment, the workspace of a master manipulator should be considered for its design. In addition, some large and complicated operations can last 3–4 h. The kinematic performance and comfort of the master manipulator control have direct physiological and psychological effects on the surgeon, especially as the duration of the operation increases 7 ,. 8 In summary, the development of master manipulators should fully consider the workspace, kinematic performance, ergonomics, and other factors that affect the comfort of the surgeon.…”

“…The entropy method 25 was employed to analyse the impact of different indices; entropy information was used to reflect the changes in different index values when the structural dimensions of the master manipulator changed and determine the weighting coefficients.To analyse the changes in each index with changes in the structural dimensions of the master manipulator, n sets of structural dimensions were selected. Equations (4), (5),(7), and (8) were used to calculate each index for each set of structural dimensions, and Equation (9) was used to normalise each index to obtain the index Fij of the j-th set of structural dimensions. Then, the proportion p ij of F ij for the entire index group is…”

Workspace and Dexterity Investigation of the Master Robot in Sina flex Robotic Telesurgery System: An in Vivo Validation

“…As it can be inferred from this table, the robot provides high dexterity for the operational workspace with and . The performance of the Sina flex master manipulator is investigated in compared with some of proposed master manipulator/haptic interfaces by the other researchers [10,13,15,[27][28][29] in TABLE II. Based on this table, the dexterity of the proposed master manipulator is comparable with the ones presented in [15,27,28].…”

“…As the commercial haptic interfaces with parallel mechanisms, Omega.7 [11] and Sigma.7 [12] (7-DoF), can be mentioned. A novel haptic master manipulator with 9-dof and the workspace volume size of 1.9535×10 8 mm 3 is analyzed in [13]. A 7-DoF parallel mechanism is presented in [14] whose workspace size is 480×450×250 mm 3 .…”