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Proceedings Paper

A 3-DOF haptic master device for minimally invasive surgery
Author(s): Phuong-Bac Nguyen; Jong-Seok Oh; Seung-Bok Choi
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Paper Abstract

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.

Paper Details

Date Published: 30 March 2012
PDF: 10 pages
Proc. SPIE 8343, Industrial and Commercial Applications of Smart Structures Technologies 2012, 83430R (30 March 2012); doi: 10.1117/12.915063
Show Author Affiliations
Phuong-Bac Nguyen, Inha Univ. (Korea, Republic of)
Jong-Seok Oh, Inha Univ. (Korea, Republic of)
Seung-Bok Choi, Inha Univ. (Korea, Republic of)


Published in SPIE Proceedings Vol. 8343:
Industrial and Commercial Applications of Smart Structures Technologies 2012
Kevin Farinholt; Steven F. Griffin, Editor(s)

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