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Structural Design and Optimisation of a Semi-Direct-Drive Master Manipulator.

Rui Han¹, Hongqiang Sang^1,2, Fen Liu¹

¹School of Mechanical Engineering, Tiangong University, Tianjin, China.

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS

|June 4, 2026

Summary

This summary is machine-generated.

Researchers developed an optimized master manipulator for laparoscopic surgical robots, significantly improving performance and force feedback. This innovation enhances surgical precision and safety in minimally invasive procedures.

Keywords:

gravity compensation mechanism master manipulator structural optimisation

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Area of Science:

Robotics
Surgical Technology
Mechanical Engineering

Background:

Laparoscopic surgical robots are advancing, but master manipulator research is limited.
Existing designs often suffer from structural complexity and poor force feedback.
There is a need for improved master manipulators in minimally invasive surgery.

Purpose of the Study:

To develop a novel semi-direct-drive serial 8-degree of freedom force-feedback master manipulator.
To address limitations in structural complexity and force feedback of current designs.
To optimize the manipulator for enhanced performance in laparoscopic surgery.

Main Methods:

Developed a semi-direct-drive serial 8-degree of freedom force-feedback master manipulator.
Proposed a global fluctuation performance index and a minimum gravity torque index.
Utilized a multi-objective genetic algorithm for structural optimization and designed a spring-cable gravity compensation mechanism.

Main Results:

The optimized manipulator meets laparoscopic surgical requirements.
Achieved a 93.63% improvement in the comprehensive performance index.
Reduced motor output torque by approximately 70% and significantly decreased end-effector force and torque.

Conclusions:

The developed master manipulator shows significant potential for application in laparoscopic surgical robots.
The optimization strategies and gravity compensation mechanism contribute to improved manipulator functionality.
This work advances the capabilities of master manipulators for minimally invasive surgical procedures.