Abstract
This article presents the development of a new medical robot system comprising a spherical remote center motion (RCM) mechanism with modular design and two mechanical decoupling methods for Minimally Invasive Surgery (MIS). We achieved excellent comprehensive performance indices through a novel multi-objective optimization model comprising four optimization objective functions, three constrained conditions and two optimization variables. In order to enhance the manipulability, remove the coupling between motors, and reduce the control difficulty, two new decoupling mechanism means were proposed to remove coupling motion between the wrist and pincers, coupling motion between the translational joint of mobile platform and four interface disks of surgical instrument as a results of rear drive motor, respectively. The control system architecture is designed to include intuitive motion control, incremental motion control, and proportional motion control. Master-slave attitude registration and surgical instrument replacement strategies improve the master-slave control efficiency. We tested the spherical RCM mechanism performance indices and developed two mechanical decoupling methods and a master-slave control algorithm. Our experimental test results validated that fixing point accuracy, the coupling motions, the positioning and repeated positioning accuracy of the MIS robot, and master-slave control algorithm meet the requirements of MIS. Successful animal experiments confirmed effectiveness of the novel MIS robot system.
Highlights
Invasive surgery (MIS) has developed rapidly and become increasingly popular
This paper mainly focuses on serial remote center motion (RCM) mechanisms
An optimization model consisting of workspace size, the new manipulability index and mechanism size for spherical RCM mechanisms was proposed by Zhang [30]
Summary
Invasive surgery (MIS) has developed rapidly and become increasingly popular. With the popularization and broader application of MIS robots in surgery, new SIs will be designed, and the corresponding compensating algorithms updated in all MIS robot systems This impacts negatively on the universality of software control algorithms. In order to reduce exchange times, improve the universality of software control algorithms, remove the coupling between motors, reduce costs, and promote the application of MIS robots, it is necessary to improve and enhance SIs and eliminate coupling motion.
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