An ER Haptic Master-Slave Robot System for the Minimally Invasive Surgery

Abstract:

In this research, a slave robot is proposed and integrated with an electrorheological (ER) haptic master for minimally invasive surgery (MIS). A novel mechanism of the slave robot with a gimbal joint is developed to realize 4-DOF motions. The proposed slave robot consists of two arms, gimbal joint and fixed bar. The haptic master can generate a repulsive force as well as position motion for the slave robot. The manufactured slave robot and haptic master are remotely connected with each other via TCP/IP communications. Both repulsive force and position tracking control are evaluated in experiment.

• Periodical: Applied Mechanics and Materials (Volumes 278-280)
• Pages: 551-555
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.278-280.551
• Online since: January 2013
• Authors: Won Ki Shin, Seung Bok Choi
• Keywords: Electro-Rheological Fluid, Gimbal Joint, Haptic Master, Minimally Invasive Surgery (MIS), Repulsive Force, Slave Robot

References

[1] Intuitive surgical http: /www. intuitivesurgical. com.

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