Design And Optimization Of A Master Manipulator For Robotic Surgery

In recent years, with the development of science and technology, surgical robothas entered the people’s vision. The application advantages of master-slave surgicalrobot as a surgical robot are increasingly apparent.Master manipulator is importantinteractive equipment of master-slave robot surgery, whose motion precision,operational flexibility, workspace and other properties will directly have an effect onthe doctors’s surgery operation, which will affect the operation effect. Therefore, theresearch on the master manipulator with better properties has great significance toimproving surgical effect and promoting master-slave surgical robot application inthe medical field.The advantages and disadvantages of different institutions and jointconfigurations were analyzed and compared based on design requirements of mastermanipulator,and series structured master manipulator with6+1DOF was designed,which has good movement flexibility and large workspace.The decoupling of mastermanipulator position and posture was achieved by designing triaxial concurrentmechanism of master manipulator end posture.Forward kinematics of mastermanipulator was analyzed using the D-H method,and master manipulator Jacobianmatrix was achieved using the differential transformation method.Appropriate rod parameters need to be designed in order to improve mastermanipulator performance. Firstly, master manipulator workspace was analyzedusing analytical method.And then master manipulator was optimized using geneticalgorithm, on the premise of the workplace which the master manipulator canreach,taking global movement performance indicators of master manipulator as ameasure of master manipulator dexterity and an optimization goal,and ultimately theappropriate rod parameters was achieved. Moreover,taking the design of mastermanipulator counterweigh into account, counterweight has been optimized usinggenetic algorithm,and finally proper counterweigh and installation location wereachieved so that counterweigh will not affect the appearance,and at the same time itwill not bring the larger moment of inertia to joints.Master manipulator mounted position on the console was allocated rationallybased on ergonomic requirements and combined with master manipulatorapplication in the actual surgery and collaborative work situation of the doublemaster hand. The reasonable posture rotation joint angle was designed and triaxialconcurrent mechanism with better flexibility was achieved,applying the concept ofposture ball and combined with the flexibility of the human wrist. After the above analysis, the specific structure of the master manipulators was designed.Thedesigned master manipulator was compact,easy to go line and has a beautiful shape.Finally, the master manipulator can achieve a better gravity balance,which wasverified through the master manipulator counterweight balance experiment.Themaster manipulator can achieve higher motion precision,which was verified throughzero calibration experiments and position as well as posture measurementexperiment. The feasibility of master manipulator carrying out master-slaveoperation surgery was verified through master-slave operation experiment.