Workspace and dexterity analysis of the hybrid mechanism master robot in Sina flex robotic telesurgery system: An in vivo experiment.

Sina flex 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 Sina flex . According to the simulation results, the workspace of the end effector is as large as 914.56 × 10 5  mm 3 , 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, Sina flex master robot can be considered a good choice to fulfil the requirements of the surgeon side robot in robotic telesurgery systems.