Elimination Method of Master-Slave Jitter for Laparoscope Arm

This paper presents the jitter elimination method of master-slave control of laparoscope arm, and the driving torque of active joints before and after jitter elimination was compared. Two-time jitter elimination are performed in master-slave control process. The two-time jitter elimination is the position increment for the master manipulator and the joint rotation angle of the slave manipulator. Two different jitters were defined, namely normal jitter and abnormal jitter. Two sets of separate jitter trajectories were captured by using the master manipulator. Simulation analysis of jitter elimination method was performed with two trajectories. Lastly, virtual surgical system for the master-slave control of laparoscope arm was established. Simulation verification of jitter elimination method through virtual system was performed. The proposed jitter elimination method will provide the basis of the master-slave control.