Abstract
The application of robotics technology in the medical field can effectively improve the accuracy of surgical operations. However, there is a challenge of movement inconsistency between the end of the laparoscope arm and the surgeon’s hand, as well as the leverage of instruments amplifying the physiological jitter of the surgeon’s hand, which can result in the jitter problem on the slave manipulator and reduce the operating accuracy of the surgical robot. To solve the problem, the Savitzky-Golay filter was used to optimize the trajectory of the master manipulator based on the master-slave mapping method, which was done to eliminate the influence of the physiological jitter. Comparative experiments with other methods were performed to demonstrate the effectiveness of this method. A virtual surgical simulation system and an experimental prototype were proposed to verify the method. The results showed that the method effectively reduced the influence of physiological jitter on master-slave motion control.
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Schedule a callMore From: Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
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