Kinematic and Workspace Analysis of the Master Robot in the Sina_flex Robotic Telesurgery System

摘要

Robotic telesurgery systems, including master and slave robots, have emerged in recent years to provide benefits for both surgeons and patients. Surgeons use the master manipulator to navigate the slave robot. The Sina <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">flex</inf> telesurgery system introduced recently by Sina Robotics and Medical Innovators Co., Ltd. consists of two main subsystems: master robotic surgery console and slave surgery robots. As the surgeon use the master robot’s handles to control the slave surgery robots, it is important for the master robot to provide the ergonomic postures for the surgeon and also providing a large enough workspace and good manipulability for the surgeon to control it. So in this paper, workspace, manipulability and isotropy of each handle at the master robot of the Sinaflex telesurgery system are analyzed. To this end, the kinematic of the master manipulator is derived, and its Jacobian is calculated. Using the simulation environment, the workspace of the master handle is obtained and drawn. The manipulability of the robot for each points of the workspace is computed. According to the results attained from the simulation study, the most manipulability values lie between 0.1 and 0.9 where it is greater than 0.44 for more than 50% of the whole workspace points of the end effector, which is as large as 574×484×560 mm.