Analysis and design of master interface for surgical robot systems

What is laparoscopic surgical robot?

Laparoscopic surgery is a modern surgical technique in which operations in the abdomen are performed through small incisions (usually 0.5–1.5 cm) as compared to larger incisions needed in traditional surgical procedures. Laparoscopic surgical robot is used for this operation. Surgeons can operate laparoscopic surgery without direct contact with a patient using this robot. Laparoscopic surgical robot mainly consists of two parts, a master interface and a slave robot.

Objective of our research

The objective of our research is to suggest an analysis method for the dynamic performance of master interface, and design a master interface to have a better performance than before.

  • Analyze dynamic performance of the master interface
  1. Analyze effective mass/inertia for translational and rotational motions along or about almost every directions
  2. Repeat this analysis about every configurations of the master device
  • Improve performance of the master interface
  1. Design issue: change a kinematic configuration, add extra joints, create new designs etc..
  2. Control issue: avoid singularity, compensation control with motion prediction etc..

 

Progress

  • Analyze dynamic performance of the master interface

1.   Analyze effective mass/inertia for translational and rotational motions along or about almost every directions at its initial position

EI(3) EI(4)