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An all-joint-control master device for single-port laparoscopic surgery robots.

Seongbo Shim¹, Taehun Kang², Daekeun Ji¹

¹Department of Robotics Engineering, DGIST, 333, Techno jungang-daero, Hyeonpung-myeon, Dalseong-gun, Daegu, Korea.

International Journal of Computer Assisted Radiology and Surgery

|February 14, 2016

Summary

This study introduces an ergonomic master device for single-port laparoscopic surgery (SPLS) robots. It enables intuitive control and minimizes tip trajectory errors, enhancing surgical precision.

Keywords:

All-joint control Mapping factor Master device Single-port laparoscopic surgery robot

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Area of Science:

Robotics
Minimally Invasive Surgery
Surgical Technology

Background:

Current single-port laparoscopic surgery (SPLS) robots often have internal joints, posing safety risks.
Existing master devices controlling only the robot tip with six degrees of freedom (DOFs) are unsuitable for SPLS due to safety concerns.

Purpose of the Study:

To design an ergonomic six-DOF master device for controlling all joints of an SPLS robot.
To address safety concerns associated with current SPLS robot control systems.

Main Methods:

Designed an ergonomic six-DOF master device with matched joints to the human arm and slave robot.
Utilized counterbalance masses to reduce operator fatigue.
Determined accurate mapping factors via kinematic analysis for precise tip control.

Main Results:

The master device features efficient joint matching, decoupling slave robot motions.
Accurate mapping factors minimize trajectory errors between master and slave robot tips.
The system demonstrated intuitive operator control of the SPLS robot.

Conclusions:

The developed master device allows for intuitive manipulation of SPLS robots.
The system achieves similar trajectories between master and slave tips with minimal error.
This innovation enhances safety and precision in single-port laparoscopic surgery.