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Optimization algorithm for operation comfortability of master manipulator of minimally invasive surgery robot

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Abstract

To evaluate the operation comfortability in the master-slave robotic minimally invasive surgery (MIS), an optimal function was built with two operation comfortability decided indices, i.e., the center distance and volume contact ratio. Two verifying experiments on Phantom Desktop and MicroHand S were conducted. Experimental results show that the operation effect at the optimal relative location is better than that at the random location, which means that the optimal function constructed in this paper is effective in optimizing the operation comfortability.

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Authors and Affiliations

  1. School of Mechanical Engineering, Tianjin University, Tianjin, 300072, China

    Jinhua Li  (李进华), Xuesheng Wang  (王雪生), Yuan Xing  (邢 元), Shuxin Wang  (王树新), Jianmin Li  (李建民) & Ke Liang  (梁 科)

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  1. Jinhua Li  (李进华)
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  2. Xuesheng Wang  (王雪生)
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  3. Yuan Xing  (邢 元)
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  4. Shuxin Wang  (王树新)
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  5. Jianmin Li  (李建民)
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  6. Ke Liang  (梁 科)
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Corresponding author

Correspondence to Yuan Xing  (邢 元).

Additional information

Supported by the National High Technology Research and Development Program of China (“863” Program, No. 2012AA02A606) and the Research Project of State Key Laboratory of Mechanical System and Vibration(MSV201412).

Li Jinhua, born in 1974, male, Dr, associate Prof.

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Li, J., Wang, X., Xing, Y. et al. Optimization algorithm for operation comfortability of master manipulator of minimally invasive surgery robot. Trans. Tianjin Univ. 22, 95–104 (2016). https://doi.org/10.1007/s12209-016-2541-1

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  • DOI: https://doi.org/10.1007/s12209-016-2541-1

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