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

被引：0

作者：

Li J. ^{[1
]}

Wang X. ^{[1
]}

Xing Y. ^{[1
]}

Wang S. ^{[1
]}

Li J. ^{[1
]}

Liang K. ^{[1
]}

机构：

[1] School of Mechanical Engineering, Tianjin University, Tianjin

来源：

Transactions of Tianjin University | 2016年 / 22卷 / 02期

关键词：

master manipulator; MicroHand S; MIS robot; operation comfortability; Phantom Desktop;

D O I：

10.1007/s12209-016-2541-1

中图分类号：

学科分类号：

摘要：

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. © 2016, Tianjin University and Springer-Verlag Berlin Heidelberg.

引用

页码：95 / 104

页数：9

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