Annu Int Conf IEEE Eng Med Biol Soc. 2021 Nov;2021:4777-4780. doi: 10.1109/EMBC46164.2021.9629933.
Robotic telesurgery systems, including master and slave robots, have emerged in recent years to provide benefits for both surgeons and patients. Surgeons use the master manipulator to navigate the slave robot. The Sina telesurgery system introduced recently by Sina Robotics and Medical Innovators Co., Ltd. consists of two main subsystems: master robotic surgery console and slave surgery robots. As the surgeon use the master robot's handles to control the slave surgery robots, it is important for the master robot to provide the ergonomic postures for the surgeon and also providing a large enough workspace and good manipulability for the surgeon to control it. So in this paper, workspace, manipulability and isotropy of each handle at the master robot of the Sinaflex telesurgery system are analyzed. To this end, the kinematic of the master manipulator is derived, and its Jacobian is calculated. Using the simulation environment, the workspace of the master handle is obtained and drawn. The manipulability of the robot for each points of the workspace is computed. According to the results attained from the simulation study, the most manipulability values lie between 0.1 and 0.9 where it is greater than 0.44 for more than 50% of the whole workspace points of the end effector, which is as large as 574×484×560 mm.
近年来，出现了包括主从机器人在内的机器人远程手术系统，为外科医生和患者带来了益处。外科医生使用主操作器来控制从机器人。由新松机器人与医疗创新研究院有限公司推出的 Sina 远程手术系统由两个主要子系统组成：主机器人手术控制台和从手术机器人。由于外科医生使用主机器人的手柄来控制从手术机器人，因此主机器人为外科医生提供符合人体工程学的姿势非常重要，同时还需要为主机器人提供足够大的工作空间和良好的可操作性，以便外科医生进行控制。因此，在本文中，对 Sinaflex 远程手术系统的主机器人的每个手柄的工作空间、可操作性和各向同性进行了分析。为此，推导出了主操作器的运动学，并计算了其雅可比矩阵。使用仿真环境，获得并绘制了主手柄的工作空间。计算了机器人在工作空间中每个点的可操作性。根据仿真研究的结果，可操作性值最大的范围在 0.1 到 0.9 之间，其中对于 50%以上的末端执行器整个工作空间点，可操作性值大于 0.44，达到 574×484×560mm。
