Shim Seongbo, Kang Taehun, Ji Daekeun, Choi Hyunseok, Joung Sanghyun, Hong Jaesung
Department of Robotics Engineering, DGIST, 333, Techno jungang-daero, Hyeonpung-myeon, Dalseong-gun, Daegu, Korea.
Division of IoT & Robotics Convergence Research, DGIST, 333, Techno jungang-daero, Hyeonpung-myeon, Dalseong-gun, Daegu, Korea.
Int J Comput Assist Radiol Surg. 2016 Aug;11(8):1547-57. doi: 10.1007/s11548-016-1352-0. Epub 2016 Feb 12.
Robots for single-port laparoscopic surgery (SPLS) typically have all of their joints located inside abdomen during surgery, whereas with the da Vinci system, only the tip part of the robot arm is inserted and manipulated. A typical master device that controls only the tip with six degrees of freedom (DOFs) is not suitable for use with SPLS robots because of safety concerns.
We designed an ergonomic six-DOF master device that can control all of the joints of an SPLS robot. We matched each joint of the master, the slave, and the human arm to decouple all-joint motions of the slave robot. Counterbalance masses were used to reduce operator fatigue. Mapping factors were determined based on kinematic analysis and were used to achieve all-joint control with minimal error at the tip of the slave robot.
The proposed master device has two noteworthy features: efficient joint matching to the human arm to decouple each joint motion of the slave robot and accurate mapping factors, which can minimize the trajectory error of the tips between the master and the slave.
We confirmed that the operator can manipulate the slave robot intuitively with the master device and that both tips have similar trajectories with minimal error.
用于单孔腹腔镜手术（SPLS）的机器人在手术过程中通常其所有关节都位于腹腔内，而对于达芬奇系统，仅将机器人手臂的尖端部分插入并进行操作。由于安全问题，一种典型的仅控制具有六个自由度（DOF）的尖端的主设备不适用于SPLS机器人。
我们设计了一种符合人体工程学的六自由度主设备，该设备可以控制SPLS机器人的所有关节。我们将主设备、从设备和人手臂的每个关节进行匹配，以使从机器人的所有关节运动解耦。使用平衡质量来减轻操作员的疲劳。基于运动学分析确定映射因子，并用于在从机器人尖端以最小误差实现所有关节的控制。
所提出的主设备具有两个值得注意的特征：与人体手臂的有效关节匹配，以使从机器人的每个关节运动解耦；以及精确的映射因子，这可以使主设备和从设备尖端之间的轨迹误差最小化。
我们证实，操作员可以使用主设备直观地操纵从机器人，并且两个尖端具有相似的轨迹，误差最小。
