A Design and Evaluation of Hand-held Mechatronic Laparoscopic Surgical Robot

This paper presents a new hand-held mechatronic laparoscopic surgical robot, which is intuitive and ergonomic as its accurate master-slave motion mapping and precise position control. The displacement transmission characteristics of cable-pulley system in laparoscope surgical robot is modelled which considers the bending rigidity of the cable. Based on the model, a position compensation algorithm of feedforward control is presented to reduce the tracking errors. To verify the effectiveness and value for real clinical application, position compensation and suturing experiments are performed. Experiments results show position tracking errors are reduced significantly. The average time of five continuous suturing is about 90s and the insertion and piercing position errors are 1mm and 2mm respectively.