Workspace and dexterity analysis of the hybrid mechanism master robot in Sinaflex robotic telesurgery system: An in vivo experiment

IF 2.3 3区医学 Q2 SURGERY International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2024-01-12 DOI:10.1002/rcs.2608

Mehrnaz Aghanouri, Hamid Moradi, Hossein A. Alibeik, Alireza Mirbagheri

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Abstract

Sina_flex robotic telesurgery system has been introduced recently to provide ergonomic postures for the surgeon along with dexterous workspace for robotic telesurgery. The robot is described, and the forward and inverse kinematics are derived and validated by an experiment. The robot and operational workspaces and their dexterity are investigated and compared using the data collected during a dog vasectomy robotic telesurgery by Sina_flex. According to the simulation results, the workspace of the end effector is as large as 914.56 × 10⁵ mm³, which can completely cover the ergonomic human hand workspace. The dexterity of the robot for the total and operational workspace is 0.4557 and 0.6565, respectively. In terms of the workspace size and the amount of dexterity, Sina_flex master robot can be considered a good choice to fulfil the requirements of the surgeon side robot in robotic telesurgery systems.

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Sinaflex机器人远程手术系统中混合机构主机器人的工作空间和灵活性分析：活体实验

最近推出的 Sinaflex 机器人远程手术系统为外科医生提供了符合人体工程学的姿势，同时为机器人远程手术提供了灵巧的工作空间。对机器人进行了描述，推导出了正向和反向运动学，并通过实验进行了验证。利用 Sinaflex 在狗输精管切除机器人远程手术中收集的数据，对机器人和操作工作空间及其灵巧性进行了研究和比较。根据模拟结果，末端效应器的工作空间大至 914.56 × 105 mm3，可以完全覆盖符合人体工程学的人手工作空间。机器人在总工作空间和操作工作空间的灵巧性分别为 0.4557 和 0.6565。就工作空间大小和灵巧程度而言，Sinaflex master 机器人是满足机器人远程手术系统中外科医生侧机器人要求的理想选择。

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来源期刊

International Journal of Medical Robotics and Computer Assisted Surgery 医学-外科

CiteScore

4.50

自引率

12.00%

发文量

131

审稿时长

6-12 weeks

期刊介绍： The International Journal of Medical Robotics and Computer Assisted Surgery provides a cross-disciplinary platform for presenting the latest developments in robotics and computer assisted technologies for medical applications. The journal publishes cutting-edge papers and expert reviews, complemented by commentaries, correspondence and conference highlights that stimulate discussion and exchange of ideas. Areas of interest include robotic surgery aids and systems, operative planning tools, medical imaging and visualisation, simulation and navigation, virtual reality, intuitive command and control systems, haptics and sensor technologies. In addition to research and surgical planning studies, the journal welcomes papers detailing clinical trials and applications of computer-assisted workflows and robotic systems in neurosurgery, urology, paediatric, orthopaedic, craniofacial, cardiovascular, thoraco-abdominal, musculoskeletal and visceral surgery. Articles providing critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies, commenting on ease of use, or addressing surgical education and training issues are also encouraged. The journal aims to foster a community that encompasses medical practitioners, researchers, and engineers and computer scientists developing robotic systems and computational tools in academic and commercial environments, with the intention of promoting and developing these exciting areas of medical technology.