Optimization Algorithm for Operation Comfortability of Master Manipulator of Minimally Invasive Surgery Robot

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 Micro Hand S wer...

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Bibliographic Details
Published in:Transactions of Tianjin University 2016-04, Vol.22 (2), p.95-104
Main Author: 李进华 王雪生 邢元 王树新 李建民 梁科
Format: Article
Language:English
Subjects:
Engineering
Humanities and Social Sciences
Mechanical Engineering
multidisciplinary
Science
优化算法
微创外科
微创手术
手术机器人
操作手
相对位置
舒适性
验证实验
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Summary: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 Micro Hand 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.
ISSN:1006-4982
1995-8196
DOI:10.1007/s12209-016-2541-1