An Ergonomic Interaction Workspace Analysis Method for the Optimal Design of a Surgical Master Manipulator

Résumé : Master control console is a place where robots collaborate with humans in a shared environment. To this end, ergonomics is an important aspect to be considered. With ergonomic design, the surgeons can feel more comfortable to conduct the surgical tasks with higher efficiency, and the quality of the teleoperated robotic surgery can be improved. In this paper, an Ergonomic Interaction Workspace Analysis method is proposed to optimize master manipulators and fulfil ergonomics consideration for designing a master manipulator for teleoperated robotic surgery.