A master-slave robot system for minimally invasive laryngeal surgery

To solve the troubles existing in laryngeal surgical operation and extend surgeon's ability, a master-slave robot system with the name “Microhand-ΠΙ” was designed. The novel slave robot employs hybrid mechanism and enables the 7 DOF end effector complex surgical manipulation ability. Mechanical details of the slave robot were described and an experiment prototype was established. The kinematics of master device and slave robot were studied followed by the master-slave mapping arithmetic. Redundancy control solution for the slave manipulator trajectory planning was also investigated. The experiment results approved both the design of the system and the master-slave mapping arithmetic. Suturing experiment further validated the potential of the system to enhance the laryngeal surgical operation.