Workspace and Dexterity Analysis of the Hybrid Mechanism Master Robot in Sinaflex Robotic Telesurgery System: An in Vivo Experiment

Workspace and Dexterity Analysis of the Hybrid Mechanism Master Robot in Sinaflex Robotic Telesurgery System: An in Vivo Experiment Publisher Pubmed

Aghanouri M¹ ; Moradi H¹ ; Alibeik HA² ; Mirbagheri A^{1, 2}

Show Affiliations

1. Department of Medical Physics and Biomedical Engineering, School of Medicine, Tehran University of Medical Sciences, Tehran, Iran
2. Research Center for Biomedical Technologies and Robotics (RCBTR), Advanced Medical Technologies and Equipment Institute (AMTEI), Tehran University of Medical Sciences, Tehran, Iran

Source: International Journal of Medical Robotics and Computer Assisted Surgery Published:2024

Abstract

Sinaflex robotic telesurgery system has been introduced recently to provide ergonomic postures for the surgeon along with dexterous workspace for robotic telesurgery. The robot is described, and the forward and inverse kinematics are derived and validated by an experiment. The robot and operational workspaces and their dexterity are investigated and compared using the data collected during a dog vasectomy robotic telesurgery by Sinaflex. According to the simulation results, the workspace of the end effector is as large as 914.56 × 105 mm3, which can completely cover the ergonomic human hand workspace. The dexterity of the robot for the total and operational workspace is 0.4557 and 0.6565, respectively. In terms of the workspace size and the amount of dexterity, Sinaflex master robot can be considered a good choice to fulfil the requirements of the surgeon side robot in robotic telesurgery systems. © 2024 John Wiley & Sons Ltd.

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Experts (# of related papers)

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Alireza Mir Bagheri (2)

Ardalan Shariat (1)

Style	Citing Format
MLA	Aghanouri M, et al.. "Workspace and Dexterity Analysis of the Hybrid Mechanism Master Robot in Sinaflex Robotic Telesurgery System: An in Vivo Experiment." International Journal of Medical Robotics and Computer Assisted Surgery, vol. 20, no. 1, 2024, pp. -.
APA	Aghanouri M, Moradi H, Alibeik HA, Mirbagheri A (2024). Workspace and Dexterity Analysis of the Hybrid Mechanism Master Robot in Sinaflex Robotic Telesurgery System: An in Vivo Experiment. International Journal of Medical Robotics and Computer Assisted Surgery, 20(1), -.
Chicago	Aghanouri M, Moradi H, Alibeik HA, Mirbagheri A. "Workspace and Dexterity Analysis of the Hybrid Mechanism Master Robot in Sinaflex Robotic Telesurgery System: An in Vivo Experiment." International Journal of Medical Robotics and Computer Assisted Surgery 20, no. 1 (2024): -.
Harvard	Aghanouri M et al. (2024) 'Workspace and Dexterity Analysis of the Hybrid Mechanism Master Robot in Sinaflex Robotic Telesurgery System: An in Vivo Experiment', International Journal of Medical Robotics and Computer Assisted Surgery, 20(1), pp. -.
Vancouver	Aghanouri M, Moradi H, Alibeik HA, Mirbagheri A. Workspace and Dexterity Analysis of the Hybrid Mechanism Master Robot in Sinaflex Robotic Telesurgery System: An in Vivo Experiment. International Journal of Medical Robotics and Computer Assisted Surgery. 2024;20(1):-.
BibTex	@article{ author = {Aghanouri M and Moradi H and Alibeik HA and Mirbagheri A}, title = {Workspace and Dexterity Analysis of the Hybrid Mechanism Master Robot in Sinaflex Robotic Telesurgery System: An in Vivo Experiment}, journal = {International Journal of Medical Robotics and Computer Assisted Surgery}, volume = {20}, number = {1}, pages = {-}, year = {2024} }
RIS	TY - JOUR AU - Aghanouri M AU - Moradi H AU - Alibeik HA AU - Mirbagheri A TI - Workspace and Dexterity Analysis of the Hybrid Mechanism Master Robot in Sinaflex Robotic Telesurgery System: An in Vivo Experiment JO - International Journal of Medical Robotics and Computer Assisted Surgery VL - 20 IS - 1 SP - EP - PY - 2024 ER -

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