Decoupling Motion Analysis of Cable-driven Minimally Invasive Surgical Robot
In clinical surgery, especially in minimally invasive surgery, both of intuitive manipulability and direct force feedback are critical factors. In order to design a minimally invasive surgical (MIS) robot with both of them, a new work model of MIS robots system was proposed and a special cable-driven MIS robot was constructed. Based on reverse motion compensation method, its decoupling model was established. Through detection angles of quick change mechanism (QCM), its motion trajectory was analyzed. The verification experiment showed that the cable-driven MIS robot had good intuitive maneuverability and direct force feedback. This study is of certain significance to improve the operation intuitiveness of MIS robot, improve the operation accuracy and shorten the training time for minimally invasive surgeons.