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A master manipulator with a remote‐center‐of‐motion kinematic structure for a minimally invasive robotic surgical system
Author(s) -
Lee Hyunyoung,
Cheon Byungsik,
Hwang Minho,
Kang Donghoon,
Kwon DongSoo
Publication year - 2018
Publication title -
the international journal of medical robotics and computer assisted surgery
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.556
H-Index - 53
eISSN - 1478-596X
pISSN - 1478-5951
DOI - 10.1002/rcs.1865
Subject(s) - workspace , kinematics , serial manipulator , operability , computer science , task (project management) , workload , imaging phantom , simulation , manipulator (device) , robot , master/slave , parallel manipulator , artificial intelligence , engineering , medicine , operating system , physics , software engineering , systems engineering , classical mechanics , radiology
Background In robotic surgical systems, commercial master devices have limitations owing to insufficient workspace and lack of intuitiveness. To overcome these limitations, a remote‐center‐of‐motion (RCM) master manipulator was proposed. Methods The feasibility of the proposed RCM structure was evaluated through kinematic analysis using a conventional serial structure. Two performance comparison experiments (peg transfer task and objective transfer task) were conducted for the developed master and Phantom Omni. Results The kinematic analysis results showed that compared with the serial structure, the proposed RCM structure has better performance in terms of design efficiency (19%) and workspace quality (59.08%). Further, in comparison with Phantom Omni, the developed master significantly increased task efficiency and significantly decreased workload in both experiments. Conclusions The comparatively better performance in terms of intuitiveness, design efficiency, and operability of the proposed master for a robotic system for minimally invasive surgery was confirmed through kinematic and experimental analysis.