29 March 2012 A 3-DOF haptic master device for minimally invasive surgery
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This paper introduces a novel 3-DOF haptic master device for minimally invasive surgery featuring magneto-rheological (MR) fluid. It consists of three rotational motions. These motions are constituted by two bi-directional MR (BMR) plus one conventional MR brakes. The BMR brake used in the system possesses a salient advantage that its range of braking torque varies from negative to positive values. Therefore, the device is expected to be able sense in a wide environment from very soft tissues to bones. In this paper, overall of the design of the device is presented from idea, modeling, optimal design, manufacturing to control of the device. Moreover, experimental investigation is undertaken to validate the effectiveness of the device.
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Phuong-Bac Nguyen, Jong-Seok Oh, and Seung-Bok Choi "A 3-DOF haptic master device for minimally invasive surgery", Proc. SPIE 8343, Industrial and Commercial Applications of Smart Structures Technologies 2012, 83430R (29 March 2012); doi: 10.1117/12.915063; https://doi.org/10.1117/12.915063

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