Kinematic Error Analysis Of Isomeric Master-Slave Surgical Robot

With the fast development of the technology related, the isomeric master-slave robot system has a widespread application in the field of minimally invasive surgery. The isomeric master-slave robot has a lot of advantages to meet the needs of the operator and surgery, such as great pertinency and short design period, but the isomerization has great influence on control, design and manufacture of the isomeric master-slave robot. So an appropriate solution is needed after the basic research. This paper makes analysis and comparison on the error distribution of the different isomeric master-slave robot in order to find out an effective method to decrease the errors of the end-effector of the isomeric master-slave robot.Firstly, the mechanism features and kinematic characteristics of the PHANToM master manipulator, BH600 neurosurgery robot and the"Microhand"laryngeal surgical robot are analyzed in detail. On the basis of this, the coordinate frame and the joint parameters of all rods are determined. Also, the kinematics models of the master-slave manipulators are established by the D-H method which is commonly used.Secondly, the factors that influence the errors of the end-effector of the master-slave robot are analyzed, various error modeling methods of robot are compared. Then the error models of the master-slave manipulators are established separately using the perturbation way of the vector method on the basis of the kinematics model of the master-slave manipulators.Finally, this paper uses the Matlab to simulate the distribution states of the orientation errors of the master and slave manipulators in their workspace through the Monte Carlo Method, including the calculation and statistic of the orientation errors, and the distribution diagram of them. Then further discussion about the effective ways to decrease the errors of the end-effector in the process of the master-slave operation is taken, by comparing the orientation error distribution of different isomeric master-slave manipulators.