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Published on: January 6, 2023
Control design and implementation of a novel master-slave surgery robot system, MicroHand A
Hongqiang Sang1, Shuxin Wang, Jianmin Li
1School of Mechanical Engineering, Tianjin University, People's Republic of China.
Summary
This study introduces the MicroHand A, a novel robotic system for minimally invasive surgery. It offers intuitive motion and scaling control, enhancing precision and overcoming limitations of traditional surgical methods.
Area of Science:
- Robotics
- Surgical Technology
- Biomedical Engineering
Background:
- Robotic-assisted minimally invasive surgery (RMIS) offers advantages over conventional methods by overcoming operator limitations like fatigue, trembling, and restricted vision.
- Existing RMIS systems face challenges in hand-eye coordination, kinematic dissimilarity, and workspace mismatch.
- A novel partly tendon-driven master-slave robot system is proposed to address these challenges in abdominal surgery.
Purpose of the Study:
- To develop and evaluate a novel master-slave robotic system, MicroHand A, for enhanced minimally invasive surgery.
- To implement intuitive motion control and motion scaling control to improve surgical precision and overcome system limitations.
- To analyze the stability and transparency of the developed master-slave control system.
Main Methods:
- Development of the MicroHand A master-slave surgical robot system.
- Kinematic analysis of master and slave manipulators using screw theory and vector loop equations.
- Derivation of control relationships between Cartesian, actuator, and joint spaces for tendon-driven instruments.
- Design of a control system architecture featuring intuitive motion control and motion scaling control.
- Analysis of system stability using Llewellyn's absolute stability criterion.
Main Results:
- Successful implementation of intuitive motion control and motion scaling control, addressing hand-eye coordination and kinematic dissimilarity issues.
- Demonstration of system stability and reliability through a series of tests and animal experiments.
- Validation that the MicroHand A system can achieve desired control outcomes for surgical tasks.
Conclusions:
- The MicroHand A robotic system successfully achieved its control objectives, including intuitive motion and motion scaling control under dissimilar kinematics.
- The developed system meets the stringent requirements for effective minimally invasive surgery.
- Experimental results confirm the stability and reliability of the MicroHand A system for surgical applications.
