中文摘要：

传统的主从同构式医疗机器人系统不能同时满足对主手操作舒适性和从手专用性的要求。主从异构式医疗机器人系统可以根据主手操作舒适性和从手专用性分别设计主手和从手，满足了对主手和从手的不同要求。主从比例系数是主从异构式机器人系统的一个重要参数。以“妙手”系统为研究对象，在确保主手和从手均满足显微血管缝合手术工作空间要求的基础上，通过对主手协同工作空间和从手协同工作空间分析，确定了主手与从手的比例系数。该系数保证系统能够顺利完成手术动作。

英文摘要：

The traditional maser-slave isomorphic surgical robotic system cannot meet the needs of comfortable manipulation of a master manipulator and applicability to the special operation of a slave manipulator, whereas an isomeric surgical robotic system can do it through separate designs of the master manipulator and the slave manipulator according to various needs. The proportional coefficient of the master and slave manipulators is an important parameter for an isomeric robotic system. Based on the ＂MicroHand＂ system developed in our lab, through the collaborative workspace analysis of the master manipulator and that of the slave manipulator, we determine their appropriate proportional coefficient. The coefficient enables the robotic system to complete the fine operation of the slave manipulator through the large-scale movement of the master manipulator.