  Master control console is a place where robots collaborate with humans in a
shared environment. To this end, ergonomics is an important aspect to be
considered. With ergonomic design, the surgeons can feel more comfortable to
conduct the surgical tasks with higher efficiency, and the quality of the
teleoperated robotic surgery can be improved. In this paper, an Ergonomic
Interaction Workspace Analysis method is proposed to optimize master
manipulators and fulfil ergonomics consideration for designing a master
manipulator for teleoperated robotic surgery.
