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Master manipulator optimisation for robot assisted minimally invasive surgery.

Mei Feng1, Zhi Xue Ni1, Ang Li1

  • 1Key Laboratory of CNC Equipment Reliability, Ministry of Education, School of Mechanical and Aerospace Engineering, Jilin University, Changchun, Jilin, China.

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS
|December 21, 2020
PubMed
Summary

Optimizing master manipulator design improves surgeon comfort and surgical precision in robot-assisted minimally invasive surgery. This enhanced design ensures a larger workspace and better kinematic performance, leading to safer and more effective operations.

Keywords:
dexterityergonomicsmaster manipulatorrobot-assisted minimally invasive surgerystructural optimisation

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Area of Science:

  • Robotics
  • Surgical Technology
  • Human-Computer Interaction

Background:

  • Master manipulators are crucial in robot-assisted minimally invasive surgery.
  • Surgeon performance is physiologically and psychologically impacted by manipulator performance.

Purpose of the Study:

  • To propose a structure optimization method for master manipulators.
  • To enhance operability and surgical quality.

Main Methods:

  • Established optimization index for workspace and dexterity based on ergonomics and kinematics.
  • Determined optimal weight coefficients using a combination weighting method.

Main Results:

  • Verified that the optimization method provides a large workspace.
  • Confirmed good kinematic performance of the optimized master manipulator.

Conclusions:

  • Improved surgeon comfort and reduced need for position adjustments due to limited workspace.
  • Enhanced safety and effectiveness in robot-assisted surgeries.