Design and experimental validation of a master manipulator with position and posture decoupling for laparoscopic surgical robot.

Journal: The international journal of medical robotics + computer assisted surgery : MRCAS
Published Date: Apr 2, 2022

Abstract

BACKGROUND: The master manipulator with position and posture decoupling and force feedback can improve the immersion of the operation, and the gravity balance can reduce the fatigue of surgeons.

Authors

  • Yanqiang Lei
    School of Control Science and Engineering, Shandong University, Jinan, China.
  • Yibin Li
    Institute of Food Science and Technology, Fujian Academy of Agricultural Sciences, Fuzhou 350003, China.
  • Rui Song
    MOE Key Laboratory for Urban Transportation Complex Systems Theory and Technology, Beijing Jiaotong University, Beijing 100044, China.
  • Dechen Wang
    Shandong Electrical Engineering & Equipment Group Co., Ltd., Jinan, China.
  • Tao Zhang
    Department of Traumatology, Chongqing Emergency Medical Center, Chongqing University Central Hospital, School of Medicine, Chongqing University, Chongqing, 40044, People's Republic of China.
  • Gang Zhang
  • Fuxin Du
    School of Mechanical Engineering, Shandong University, Jinan, China.

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