Master-slave motion alignment for an open surgical console

Background: Open surgical consoles widely employed in minimally invasive surgery have better ergonomics than closed consoles. To enhance surgical robots' ergonomics, operational efficiency, and safety, an effective master-slave motion alignment model should be established. Methods: The kinematic model of the robot system based on laparoscopic camera coordinate system is built in the first place. Then, the relative pose between the operator's eyes and the display is measured by Tobii Eye Tracking Sensor and is subsequently used to improve the master-slave motion alignment model. Results: Robot threading experiments are conducted by two doctors and three testers to verify the kinematic model. As a result, in contrast to the original model, the improved model reduces both operation time and the number of collisions. Conclusions: The improved master-slave motion alignment model, in which the transformation matrix between the operator's eyes and the display is employed, raises the ergonomics, operational efficiency, and safety.