Accurate parameter estimation for master–slave operation of a surgical robot

In this paper, a parameter estimation method is proposed to predict the simultaneous joint dynamics of a surgical robotic arm that is tracking trajectories. It mainly deals with the design, modeling, prototyping and control of a serial robotic arm for robot-assisted urological surgery. This robot is composed of many joints mounted in series with the surgical tool end performing both a translational workspace and a cone-shaped orientation workspace. The joints dynamics is obtained by trajectory planning of the tool end in the virtual prototype modeling environment. The motor drive system is parameterized for design, and its comprehensive performance in motion is predicted accurately. The heterogeneous master–slave control system was built, and the performances of the master–slave prototype were experimentally evaluated by measuring the positioning error of the virtual fixed point and the surgical tool end along the planned trajectory.