| Surgical robotics is a new technology and has a great potential in the future. Laparoscopic surgical robotics technique is based on the traditional minimally invasive surgery (MIS) technology and it overcomes the disadvantages in MIS. The current commercial MIS robot systems were designed on the basis of industrial manipulators, which are large space, high cost, hard to maintain, etc.;A compact laparoscopic surgical robot prototype system was built at the University of Hawaii with the advantages of lightweight, low cost, compact, simpler sterilization and increased safety. The components of the surgical robot system includes a teleoperation master and a teleoperation slave which consists of two instrument manipulators and one endoscope manipulator.;The control system of the surgical robot system was studied and designed. The surgical robot manipulator dynamic equation, closed loop velocity and position control, and master-slave teleoperation control were realized. The controller parameters were experimentally optimized and the control results were given. A reliable teleoperation control system software architecture was designed which is modular structure consisting of human-machine interface, manipulator motion control and hardware drivers.;In order to compare the differences between manual instrument operation and surgical robot teleoperation, the preliminary user task evaluation tests were performed and the results were given. Based on the results found in the preliminary user tests, a kind of instruments with an articulated wrist was designed to realize two more degrees of freedom wrist motions with grasping force feedback. Also an ergonomic master handle to control instrument wrist and tool was designed. With the improved system, the further user task evaluation tests with standard surgical training procedures were performed, and the results and comparisons with other available surgical robots were given. The results of the user tests of the surgical robot system and will guide further development of the prototype to provide robotic MIS surgery field with a compact and low cost robotic surgery solution. |
