Zhao J, Wang S, Wang J, Li J, Cui L, Li J. Design and experiment of a 3-DoF master device with a 2-DoF parallel mechanism for flexible ureteroscopy.
Int J Med Robot 2023;
19:e2459. [PMID:
36098624 DOI:
10.1002/rcs.2459]
[Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/13/2022] [Revised: 08/19/2022] [Accepted: 08/20/2022] [Indexed: 01/05/2023]
Abstract
BACKGROUND
Traditional commercial master devices and specialied serial master devices meet insufficient workspace, low intuitiveness, low stiffness, and poor accuracy during master-slave mapping for robot-assisted flexible ureteroscopy (FURS).
METHODS
This paper presents a 3-DoF master device for FURS. A 2-DoF parallel mechanism was designed and utilised in the master device for higher stiffness based on requirements analysis. A Back Propagation Neural Network was built for the forward kinematics of the parallel mechanism during master-slave mapping. Analysis of mechanical characteristics was carried out for the usability of the master device. A contrast experiment on the phantom was conducted to evaluate the performance between the proposed master device and a previous one.
RESULTS
The completion time for each trial of the proposed master devices is shorter than that of the previous master serial device. Meanwhile, the proposed device provides a more comfortable operating style than the previous one.
CONCLUSIONS
The proposed 3-DoF configuration for the master device is with more intuitive performance. A better comfort level indicates its usability in clinical applications.
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