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A master manipulator with a remote-center-of-motion kinematic structure for a minimally invasive robotic surgical
Hyunyoung Lee1, Byungsik Cheon1, Minho Hwang1
1Mechanical engineering department, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Republic of Korea.
Background:
In robotic surgical systems, commercial master devices have limitations owing to insufficient workspace and lack of intuitiveness. To overcome these limitations, a remote-center-of-motion (RCM) master manipulator was proposed.
Methods:
The feasibility of the proposed RCM structure was evaluated through kinematic analysis using a conventional serial structure. Two performance comparison experiments (peg transfer task and objective transfer task) were conducted for the developed master and Phantom Omni.
Results:
The kinematic analysis results showed that compared with the serial structure, the proposed RCM structure has better performance in terms of design efficiency (19%) and workspace quality (59.08%). Further, in comparison with Phantom Omni, the developed master significantly increased task efficiency and significantly decreased workload in both experiments.
Conclusions:
The comparatively better performance in terms of intuitiveness, design efficiency, and operability of the proposed master for a robotic system for minimally invasive surgery was confirmed through kinematic and experimental analysis.
