Design and Experimental Test of ER Fluid Based 3-DOF Haptic Master System for MIS

Seung Gu Lim; Phuong Bac Nguyen; Seung Bok Choi

doi:10.4028/www.scientific.net/AMR.317-319.600

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Design and Experimental Test of ER Fluid Based 3-DOF Haptic Master System for MIS
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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 317-319Design and Experimental Test of ER Fluid Based...

Design and Experimental Test of ER Fluid Based 3-DOF Haptic Master System for MIS

Abstract:

This paper presents a new design of an electro-rheological (ER) fluid-based haptic master device that is used for a minimally invasive surgery (MIS). This device consists of a bi-directional ER clutch/brake and an ER brake from which a repulsive force is realized. First, the modeling of these clutches/brakes is conducted. In addition, to transmit a complex rotation from the handle of the device to three independently rotary movements, a gimbal mechanism is adopted. At last, in order to evaluate the repulsive forces generated from the device, an experimental test is undertaken.

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Periodical:

Advanced Materials Research (Volumes 317-319)

Pages:

600-603

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.317-319.600

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Online since:

August 2011

Authors:

Seung Gu Lim, Phuong Bac Nguyen, Seung Bok Choi

Keywords:

ER Fluid, Haptic Master System, Minimally Invasive Surgery (MIS), Repulsive Force

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References

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