Mechanism Design And Evaluation On Master Manipulator Of Minimally Invasive Surgery Robot

Minimally Invasive Surgery(MIS) assisted robot has miraculous rise in surgical field, MIS robot has become the developing tendency in medical industry. This paper in the view of “MicroHand S” MIS robot's working requirement, taking the isomorphic control master manipulator as the research object, focusing on the mechanism design, kinematic analysis, mechanism evaluation and optimization, and operation comfortability evaluation and optimization, which are shown as following:Firstly, on the basis of the designing requirement and surgical needs, according to new mechanism of surgical instrument, a 7+2 DOF isomorphic control master manipulator was designed. Kinematic and Jacobian matrix of the master manipulator mechanism were calculated, and the workspace was analyzed, accomplishing the design of master manipulator of “MicroHand S” robot system.Secondly, the methods and application purposes of the mechanism evaluation system were summarized; condition number of the Jacobian matrix was adopted as the evaluation index to optimize the parameters of master manipulator. The definition of operation comfortability, and two operation comfortability evaluation indexes were put forward, workspace contact ratio C and central distance R, an operation comfortability optimal function was defined on the basis of the two indexes, which is used to optimize operation comfortability of master manipulator.Finally, an experiment called “pick and place”, which is used for surgical training, was designed, which was used to demonstrate the effectiveness of the operation comfortability analyzing method, according to the operating effect at different relative locations with master manipulator. The error of master manipulator drawing straight line at the comprehensive impact factors was measured by an experiment,in order to reduce the moving error and increase operating precision.