11 April 2017 Design of a 7-DOF haptic master using a magneto-rheological devices for robot surgery
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This paper presents a 7 degrees-of-freedom (7-DOF) haptic master which is applicable to the robot-assisted minimally invasive surgery (RMIS). By utilizing a controllable magneto-rheological (MR) fluid, the haptic master can provide force information to the surgeon during surgery. The proposed haptic master consists of three degrees motions of X, Y, Z and four degrees motions of the pitch, yaw, roll and grasping. All of them have force feedback capability. The proposed haptic master can generate the repulsive forces or torques by activating MR clutch and MR brake. Both MR clutch and MR brake are designed and manufactured with consideration of the size and output torque which is usable to the robotic surgery. A proportional-integral-derivative (PID) controller is then designed and implemented to achieve torque/force tracking trajectories. It is verified that the proposed haptic master can track well the desired torque and force occurred in the surgical place by controlling the input current applied to MR clutch and brake.
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Seok-Rae Kang, Seung-Bok Choi, Yong-Hoon Hwang, and Seung-Woo Cha "Design of a 7-DOF haptic master using a magneto-rheological devices for robot surgery", Proc. SPIE 10164, Active and Passive Smart Structures and Integrated Systems 2017, 101642E (11 April 2017); doi: 10.1117/12.2258720; https://doi.org/10.1117/12.2258720

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