Design of a novel force-reflecting haptic device for minimally invasive surgery robot

Minimally Invasive Surgery (MIS) is becoming recognized as a most respected approach in performing surgeries due to its benefits to both patients and surgeons. And in the master-slave robotic MIS system, Haptic device has an essential part to play because it provides the sense of touch for the surgeon who aims to position the objects inside a patient's body. This paper attempts to present a novel cable-driven 6-DOF serial force-reflecting haptic device for robotic MIS system. The kinematic analysis of the haptic device is performed by using a modified D-H method. Workspace is also analyzed according to the actual working condition. Simulation experiment proves that the haptic device is dexterous enough.

[1]  Joon-Young Choi,et al.  A haptic interface using a force-feedback joystick , 2007, SICE Annual Conference 2007.

[2]  Rajnikant V. Patel,et al.  Design and characterization of a 7-DOF haptic interface for a minimally invasive surgery test-bed , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[3]  Martin Buss,et al.  Redundancy resolution of a 7 DOF haptic interface considering collision and singularity avoidance , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[4]  Abderrahmane Kheddar,et al.  Design and evaluation of a haptic interface for interactive simulation of minimally-invasive surgeries , 2009, 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

[5]  Shahram Payandeh,et al.  Design and modeling of a novel 6 degree of freedom haptic device , 2009, World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems.

[6]  Mahdi Tavakoli,et al.  Design issues in a haptics-based master-slave system for minimally invasive surgery , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[7]  Hideki Hashimoto,et al.  Development of micromanipulator and haptic interface for networked micromanipulation , 2001 .

[8]  Lucy Y. Pao,et al.  Isotropic force control for haptic interfaces , 2004 .

[9]  Uhn Joo Na,et al.  A New 6-DOF Haptic Device for Teleoperation of 6-DOF Serial Robots , 2011, IEEE Transactions on Instrumentation and Measurement.

[10]  Paolo Dario,et al.  Design of a Novel Bimanual Robotic System for Single-Port Laparoscopy , 2010, IEEE/ASME Transactions on Mechatronics.

[11]  E. Ilhan Konukseven,et al.  Theoretical and experimental determination of capstan drive slip error , 2010 .

[12]  Peter I. Corke,et al.  A robotics toolbox for MATLAB , 1996, IEEE Robotics Autom. Mag..

[13]  Keyvan Hashtrudi-Zaad,et al.  Experimental performance evaluation of a haptic training simulation system , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[14]  Evangelos Papadopoulos,et al.  Design and implementation of a haptic device for training in urological operations , 2003, IEEE Trans. Robotics Autom..

[15]  Thomas Harold Massie,et al.  Design of a three degree of freedom force-reflecting haptic interface , 1993 .

[16]  Robert Wilson,et al.  Motion control of impedance-type haptic devices , 2009, 2009 IEEE International Conference on Robotics and Automation.

[17]  Tsuneo Yoshikawa,et al.  A new haptic interface device capable of continuous-time impedance display within sampling-period: application to hard surface display , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).