Abstract: The purpose of design and optimization for master-slave surgical robot mapping strategy is to improve the operating efficiency of the surgeon and to reduce surgical fatigue. One of the key steps of the evaluation in the past usually rely on the completion of the physical robot surgery platform, which takes lots of time. The mapping strategy of minimally invasive surgical robotic instruments is taken as the research object. Cholecystectomy is selected as the sample, micromotion is used to obtain the typical locomotion trajectory of the typical instruments through operation. The range of movement in the operative safety zone is obtained through comprehensive analysis. Based on the establishment of a typical Chinese human motion model on engineering analysis platform DELMIA, the trajectory of the upper limbs and the effects of different mapping ratio based on inverse kinematics were calculated. The RULA analysis is used to evaluate the degree of fatigue of the bilateral upper limbs under different mapping ratios to obtain the best mapping ratio of the human-machine interface in a specific mapping strategy. Optimized design and manufacturing put forward a new evaluation method, which provides a new way to shorten the process of instrument design and modification and speed up the development of equipment.

Key words: intraoperative trajectory, mapping strategy, surgical robot