A preliminary study on joint to joint control master device for single port laparoscopic surgery robot

Unlike da Vinci surgical system, in a single port laparoscopic surgery (SPLS) robot, all joints of the slave robot are located inside abdomen. Therefore, all joints of the slave robot should be controlled separately for surgical safety. In this study, a master device was developed for PLAS which is one of the slave robots for SPLS. Because all joints of the slave robot are inserted in the human body during the surgery, we need to develop a master device which can control each joint of the robot separately. We focused on developing the master device in a perspective of the following factors. First, DOF and structure of a target slave robot must be analyzed. Then, according to ergonomics, joint matching among the master, slave, and human arm should be considered. Through this matching, each joint motion of the slave robot can be decoupled. In addition, we proposed mapping factors, which can minimize the trajectory error of the tips between the master and the slave. We confirmed that each joint of the slave robot can be manipulated separately and that both tips have similar trajectory.