Design Of Master Manipulator Of Minimally Invasive Surgical Robot System

With the continuous development of master-slave surgical robot system application in minimally invasive surgery, the master manipulator with force feedback plays an increasingly more and more important role. Design of master manipulator with force feedback of minimally invasive surgical robot has become a focus and difficulty of the master-slave type surgical robot research. Based on the research on force feedback Problems for the existing minimally invasive surgical robotic systems, A nine degrees of freedom master manipulator with force feedback of the minimally invasive surgical robot system is designed.The main contents of the paper are as follows:First, Based on research and analysis, the motor is determined as the actuator to achieve the reflection of force feedback, and its work principle of is discussed,then various factors influencing force feedback are analyzed.Secondly, according to the workspace and performance requirements, a comprehensive analysis of the framework and scale of the master manipulator is conducted. Taking the weight balance requirements into consideration, the overall structure is designed and the kinematic analysis is implemented.Then, according to the overall structure of the master manipulator combined with the accuracy of force feedback, the research focuses on the transmission system with the application of the cable.Finally, the mechanical structure of various components of the master manipulator are designed, and its three-dimensional model and virtual assembly are completed. then the physical prototypes is manufactured, assembled and tested to verify the feasibility of the design.In addition, aiming at the need for arthroscopic surgery, a multi-functional arthroscopic trainer is developed.