A user interface for a seven degree of freedom surgical robot

摘要

Minimally invasive robotic surgery combines the advantageous non-invasiveness of minimally invasive surgery with the positive aspects of precision technology, which is why innovative and cost effective designs are constantly being developed in this field. This paper presents the design of a joystick-type user interface for the master-slave control of an existing seven degree of freedom surgical robot. The slave system (7 DOF) had to be controlled with one hand of the surgeon, since ultimately the system would have two slave arms, each controlled by its own joystick. This raised the issue of designing a joystick that allows unhindered intuitive movement of the slave system. Experimental results of the joystick show, through subject tests, that operating the system is quick to learn.