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Design of a 7-DOF haptic master using a magneto-rheological devices for robot surgery
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Paper Abstract

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.

Paper Details

Date Published: 11 April 2017
PDF: 6 pages
Proc. SPIE 10164, Active and Passive Smart Structures and Integrated Systems 2017, 101642E (11 April 2017); doi: 10.1117/12.2258720
Show Author Affiliations
Seok-Rae Kang, Inha Univ. (Korea, Republic of)
Seung-Bok Choi, Inha Univ. (Korea, Republic of)
Yong-Hoon Hwang, Inha Univ. (Korea, Republic of)
Seung-Woo Cha, Inha Univ. (Korea, Republic of)


Published in SPIE Proceedings Vol. 10164:
Active and Passive Smart Structures and Integrated Systems 2017
Gyuhae Park, Editor(s)

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