Ergonomic Analysis of the Master of Minimally Invasive Surgical Robot

Abstract

How to well design the master console is one of the key techniques of master-slave surgical robot system. Related to the slave arms, to the surgeon and to the other components of the console the two master arms need to satisfy all requirements of different aspect. In this paper the ergonomic problem is treated. Operated by the surgeon the master arm should be placed in a suitable position. In addition, it should also have good back-drivability. Some analyses and rationales are made to solve these problems.