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.
Highlights
Robot-assisted minimal invasive surgery (RMIS), which is famous for its precise position, dexterity enhancement and high success rate in complex surgery, has been greatly developed during the past few years [1]–[4]
MECHANISM OPTIMIZATION RESULTS ANALYSIS the dimensions of links are optimized based on the proposed optimization index by utilizing the PTPSO algorithm
In order to study the performances of the designed master device comprehensively, an optimization index which considers the kinematic performances, motion precision, and structure length utilization of the mechanism is proposed in the section IV
Summary
Robot-assisted minimal invasive surgery (RMIS), which is famous for its precise position, dexterity enhancement and high success rate in complex surgery, has been greatly developed during the past few years [1]–[4]. The most successful minimally invasive surgical robot da Vinci (produced by Intuitive Surgical Inc.) is equipped with a 8 DOFs serial robotic master manipulator [8]–[10], which can be divided into three parts: shoulder, elbow, and wrist. Because the Touch series (formerly PHANTOM series) have compact structure and small size and can provide precise positioning input and high-fidelity force-feedback output, these haptic devices were employed as the master device of Raven-II, which is a platform for collaborative research on advances in surgical robotics [11], [12]. Touch series are serial-link devices that have 6 DOFs and can
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