Design and control of MR haptic master/slave robot system for minimally invasive surgery

Chang-Ho Uhm; Phoung Bac Nguyen; Seung-Bok Choi

doi:10.1117/12.2009091

10 April 2013 Design and control of MR haptic master/slave robot system for minimally invasive surgery

Chang-Ho Uhm, Phoung Bac Nguyen, Seung-Bok Choi

Proceedings Volume 8688, Active and Passive Smart Structures and Integrated Systems 2013; 86881B (2013) https://doi.org/10.1117/12.2009091
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2013, San Diego, California, United States

Abstract

In this work, magnetorheological (MR) haptic master and slave robot for minimally invasive surgery (MIS) have been designed and tested. The proposed haptic master consists of four actuators; three MR brakes featuring gimbal structure for 3-DOF rotation motion(X, Y and Z axes) and one MR linear actuator for 1-DOF translational motion. The proposed slave robot which is connected with the haptic master has vertically multi- joints, and it consists of four DC servomotors; three for positioning endoscope and one for spinning motion. We added a fixed bar with a ball joint on the base of the slave for the endoscope position at the patient’s abdomen to maintain safety. A gimbal structure at the end of the slave robotic arm for the last joint rotates freely with respect to the pivot point of the fixed bar. This master-slave system runs as if a teleoperation system through TCP/IP connection, programmed by LabVIEW. In order to achieve the desired position trajectory, a proportional-integral-derivative (PID) controller is designed and implemented. It has been demonstrated that the effective tracking control performances for the desired motion are well achieved and presented in time domain. At last, an experiment in virtual environments is undertaken to investigate the effectiveness of the MR haptic master device for MIS system.

Citation Download Citation

Chang-Ho Uhm, Phoung Bac Nguyen, and Seung-Bok Choi "Design and control of MR haptic master/slave robot system for minimally invasive surgery", Proc. SPIE 8688, Active and Passive Smart Structures and Integrated Systems 2013, 86881B (10 April 2013); https://doi.org/10.1117/12.2009091

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available