Control design and implementation of a novel master-slave surgery robot system, MicroHand A

Background: Compared with conventional minimally invasive surgery and open surgery, robotic-assisted minimally invasive surgery can overcome or eliminate drawbacks caused by operator restrictions, motion limitation by the trocar and the image system, such as fatigue, trembling, low precision, constrained degree-of-freedom, poor hand-eye coordination and restricted surgical vision. In this paper, a novel partly tendon-driven master-slave robot system is proposed to assist minimally invasive surgery and a master-slave control architecture is developed for abdominal surgical operations.

Methods: A novel master-slave surgery robot system named MicroHand A has been developed. A kinematic analysis of master and slave manipulators was conducted, based on screw theory and vector loop equation. The relationships of the tendon-driven multi-DOF surgical instrument among Cartesian space, actuator space and joint space were derived for control purposes. The control system architecture of the MicroHand A was designed with intuitive motion control and motion scaling control. Llewellyn's absolute stability criterion and the transparency of the one-DOF master-slave system are also analysed.

Results: Intuitive motion control under dissimilar kinematics in master-slave manipulations and motion scaling control were accomplished to solve absonant hand-eye coordination, kinematic dissimilarity and workspace mismatch of master-slave manipulator problems. A series of tests and animal experiments were carried out to evaluate system performance. The experimental results demonstrate that the system could accomplish intuitive motion control and motion scaling control, and that the control system is stable and reliable.

Conclusions: The experiments performed on the MicroHand A robotic system yielded expected control results. The system satisfies the requirements of minimally invasive surgery. Intuitive motion control and motion scaling control under different kinematics for the master and slave have been implemented.