Dynamic Modelling of the Surgery Arm in Sinaflex Robotic Telesurgery System

The use of robotic telesurgery has increased because of its high accuracy, fewer complications, and remote-control capability. To improve the accuracy of robotic arms in these systems, it is essential to have a precise dynamic model. In this study, we focus on the Sinaflex robotic telesurgery system and develop a dynamic model for a novel slave robot. Our approach involves deriving and linearising dynamic equations, defining optimal excitation trajectories, and estimating dynamic parameters using least square optimisation. To investigate the parameters' identification accuracy, the joint torques predicted by the model were compared with those actually obtained from the experiments. The results reveal that the method accurately predicts joint torques with the root mean square ( RMS) ranging from 0.58 to 1.48 Nm. Using the proposed method in this paper for identifying the robot dynamic parameters leads to more accurate results for robots with complex mechanisms.