Workspace and dexterity analysis of the hybrid mechanism master robot in Sina robotic telesurgery system: An in vivo experiment.
Journal:
The international journal of medical robotics + computer assisted surgery : MRCAS
Published Date:
Feb 1, 2024
Abstract
Sina 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. According to the simulation results, the workspace of the end effector is as large as 914.56 × 10 mm, 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 master robot can be considered a good choice to fulfil the requirements of the surgeon side robot in robotic telesurgery systems.