混合机构主机器人在 Sina 机器人远程手术系统中的工作空间和灵巧度分析：一项体内实验。

Workspace and dexterity analysis of the hybrid mechanism master robot in Sina robotic telesurgery system: An in vivo experiment.

机构信息

Department of Medical Physics and Biomedical Engineering, School of Medicine, Tehran University of Medical Sciences, Tehran, Iran.

Research Center for Biomedical Technologies and Robotics (RCBTR), Advanced Medical Technologies and Equipment Institute (AMTEI), Tehran University of Medical Sciences, Tehran, Iran.

出版信息

Int J Med Robot. 2024 Feb;20(1):e2608. doi: 10.1002/rcs.2608.

DOI:10.1002/rcs.2608

PMID:38536715

Abstract

Sina robotic telesurgery system has been introduced recently to provide ergonomic postures for the surgeon along with dexterous workspace for robotic telesurgery. The robot is described, and the forward and inverse kinematics are derived and validated by an experiment. The robot and operational workspaces and their dexterity are investigated and compared using the data collected during a dog vasectomy robotic telesurgery by Sina. According to the simulation results, the workspace of the end effector is as large as 914.56 × 10 mm, which can completely cover the ergonomic human hand workspace. The dexterity of the robot for the total and operational workspace is 0.4557 and 0.6565, respectively. In terms of the workspace size and the amount of dexterity, Sina master robot can be considered a good choice to fulfil the requirements of the surgeon side robot in robotic telesurgery systems.

摘要

最近引入了 Sina 机器人远程手术系统，为外科医生提供符合人体工程学的姿势和机器人远程手术的灵巧工作空间。介绍了机器人，并通过实验推导出正向和逆向运动学，并进行了验证。使用 Sina 在狗输精管结扎机器人远程手术期间收集的数据，研究并比较了机器人和操作工作空间及其灵巧性。根据模拟结果，末端执行器的工作空间高达 914.56×10mm，可以完全覆盖符合人体工程学的人手工作空间。机器人的总工作空间和操作工作空间的灵巧度分别为 0.4557 和 0.6565。就工作空间大小和灵巧度而言，Sina 主机器人可以被认为是满足机器人远程手术系统中外科医生侧机器人要求的一个不错选择。