All Joint Controlling Master Device for Y-type Single Port Laparoscopic Surgery Robot

Abstract

Recently, a number of Y-type robot for single port laparoscopic surgery (SPLS) have been developed. Considering that all joints of the robot are inserted in the human body during the surgery, the general master device which controls the only tip of the robot is not suitable. The reason is that some joint operation will not be under control and may damage tissues in the tip controlling method. In this paper, we propose an ergonomic master device for Y-type SPLS robot to control all joints separately. The designed master device has two main features: (1) In order to reduce fatigue of operators during the surgery, ergonomic design and counterbalanced mechanism are applied to the master device. (2) To minimize the velocity error of tips between master and slave, the mapping factors of each joint are calculated and implemented. Consequently, we have designed all joints controlling master device ergonomically, and found the mapping factors to have minimum a velocity error of both tips. We verified that operators can manipulate the slave robot intuitively and both tips have simi-lar velocity through the simulation. ⓒ 2015 DGIST