Design of a new haptic device and experiments in minimally invasive surgical robot. (31st October 2017)

• Record Type: Journal Article
• Authors: Wang, Tao; Pan, Bo; Fu, Yili; Wang, Shuguo; Ai, Yue
• Is Part Of: Computer assisted surgery. Volume 22(2017)Supplement 1
• Page Start: 240
• Page End: 250
• Publication Date: 2017-10-31
• Subjects: Haptic device -- minimally invasive surgery -- surgical robot -- master-slave control; Computer-assisted surgery -- Periodicals
• DOI: 10.1080/24699322.2017.1389402
• Languages: English
• ISSNs: 2469-9322

Abstract

Abstract: In this paper, we designed a 8 degrees of freedom (DOFs) haptic device for applications in minimally invasive surgical robot. The device can provide three translational, three rotational and a grasping motion and force feedback capability. It is composed of three parts, including an arm mechanism, a redundant wrist mechanism and a grasper mechanism. The kinematics and gravity compensation algorithms are also detailed in the paper. In addition, the haptic device and a slave surgical robot for minimally invasive surgery (MIS) developed by our lab are integrated as a master-slave surgical robotic system in this paper. In the master-slave robotic system, a new control system is designed to realize real-time mater-slave control based on EtherCAT bus technology. Experiments show that the haptic device can effectively compensate gravity at any position in its workspace and successfully realize master-slave operation by the control method, which prove the haptic device designed in this paper can be used as a master manipulator to control the surgical robot.