Lee Hyunyoung, Cheon Byungsik, Hwang Minho, Kang Donghoon, Kwon Dong-Soo
Mechanical engineering department, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Republic of Korea.
Int J Med Robot. 2018 Feb;14(1). doi: 10.1002/rcs.1865. Epub 2017 Oct 12.
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.
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.
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.
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.
在机器人手术系统中，商用主设备由于工作空间不足和缺乏直观性而存在局限性。为克服这些局限性，提出了一种运动远程中心（RCM）主操纵器。
通过使用传统串联结构的运动学分析来评估所提出的RCM结构的可行性。对所开发的主设备和Phantom Omni进行了两项性能比较实验（栓柱转移任务和目标转移任务）。
运动学分析结果表明，与串联结构相比，所提出的RCM结构在设计效率（19%）和工作空间质量（59.08%）方面具有更好的性能。此外，与Phantom Omni相比，所开发的主设备在两项实验中均显著提高了任务效率并显著降低了工作量。
通过运动学和实验分析证实，所提出的用于微创手术机器人系统的主设备在直观性、设计效率和可操作性方面具有相对更好的性能。
