Abstract
Background: Studies have been conducted on slave-specific master devices with a similar kinematic structure to the slave to enhance intuitiveness. However, for the four-degrees of freedom (DOFs) slave of a flexible endoscopic surgery robot, only four DOFs in the master device causes low ergonomic performance. Methods: To enhance ergonomic performance, a second yaw joint was added as a redundant joint after considering the range of wrist motion and the workspace shape. Three experiments were performed to compare the intuitiveness and ergonomic performance of the proposed device with four-DOFs slave-specific and six-DOFs general-purpose master devices. Results: Significant differences were observed in terms of intuitiveness performance between the slave-specific and the general-purposed master device. On the other hand, there was no significant difference in ergonomic performance between the master devices with redundant joint. Conclusions: Compared with a general-purpose master device, the proposed one exhibited noticeably improved intuitiveness performance and comparable ergonomic performance.
Original language | English |
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Pages (from-to) | 1-14 |
Number of pages | 14 |
Journal | International Journal of Medical Robotics and Computer Assisted Surgery |
Volume | 17 |
Issue number | 1 |
DOIs | |
State | Published - Feb 2021 |
Bibliographical note
Publisher Copyright:© 2020 John Wiley & Sons Ltd.
Keywords
- endoscopy
- ergonomics
- human-machine interfaces
- intuitiveness
- redundant joint
- telesurgery