Design of 3 DOF Haptic Master Mechanisms Featuring Bi-Directional Clutch/Brake for MIS

This study presents the configuration and modeling of an electro-rheological (ER) fluid-based haptic master device for minimally invasive surgery (MIS). The haptic master device can produce a 3-DOF rotational motion which is realized by ER bi-directional clutch/brake for X and Y axes and ER brake for Z axis. In order to transmit a complex rotation from the handle of the device to three rotary movements, a gimbal structure is adopted. Before manufacturing the proposed haptic master, two case of design parameters are detemined from the viewpoint of compact size and extensive workspace, respectively.

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Design and Performance Evaluation of Haptic Master Device Using ER Spherical Joint

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.317-319.577 ◽

2011 ◽

Vol 317-319 ◽

pp. 577-580 ◽

Cited By ~ 3

Author(s):

Han Jun Cho ◽

Jong Seok Oh ◽

Seung Bok Choi

Keyword(s):

Performance Evaluation ◽

Minimally Invasive Surgery ◽

Minimally Invasive ◽

Invasive Surgery ◽

Rotational Motion ◽

Spherical Joint ◽

Bingham Model ◽

And Performance ◽

Er Fluid ◽

Master Device

This study presents the configuration and modeling of haptic mater device for minimally invasive surgery (MIS) using ER fluid. The haptic device has 3-DOF rotational motion which is realized by the ER spherical joint. The ER spherical joint is designed based on Bingham model. The haptic master device that consists of spherical joint as an inner electrode and sphere housing as an outer electrode is manufactured. Generated torque of the manufactured haptic master device is then experimentally evaluated with respect to applied electric field.

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

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.317-319.600 ◽

2011 ◽

Vol 317-319 ◽

pp. 600-603

Author(s):

Seung Gu Lim ◽

Phuong Bac Nguyen ◽

Seung Bok Choi

Keyword(s):

Minimally Invasive Surgery ◽

Minimally Invasive ◽

Invasive Surgery ◽

Experimental Test ◽

Repulsive Force ◽

Complex Rotation ◽

Master System ◽

Repulsive Forces ◽

Er Fluid ◽

Master Device

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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Design and Experimental Evaluation of a Novel 2 DOF Haptic Master Device Featuring Magneto-Rheological Fluid

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.378-379.585 ◽

2011 ◽

Vol 378-379 ◽

pp. 585-588

Author(s):

Phuong Bac Nguyen ◽

Jong Seok Oh ◽

Seung Bok Choi

Keyword(s):

Minimally Invasive Surgery ◽

Optimal Design ◽

Minimally Invasive ◽

Design Process ◽

Invasive Surgery ◽

Rotational Motion ◽

Haptic Device ◽

Bingham Model ◽

Magneto Rheological ◽

Master Device

In this study, configuration and modeling of haptic mater device for minimally invasive surgery (MIS) featuring magneto-rheological (MR) fluid are proposed. This haptic device consists of two friction-free magneto-rheological (FFMR) brakes incorporated with a gimbal mechanism for realizing a 2-DOF rotational motion. The total torque induced from the FFMR brakes of the haptic device is computed based on Bingham model. In order to enhance the performance of the device, an optimal design for its brakes is undertaken. A prototype for the design is then manufactured and an experiment is undertaken to validate the result of the optimal design process.

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Multi-robot system optimization based on redundant serial spherical mechanism for robotic minimally invasive surgery

Robotica ◽

10.1017/s0263574718000681 ◽

2018 ◽

Vol 37 (7) ◽

pp. 1202-1213 ◽

Cited By ~ 5

Author(s):

C. A. Nelson ◽

M. A. Laribi ◽

S. Zeghloul

Keyword(s):

Minimally Invasive Surgery ◽

Minimally Invasive ◽

Invasive Surgery ◽

System Optimization ◽

Design Parameters ◽

Operating Table ◽

Robot System ◽

Spherical Linkages ◽

Spherical Mechanism ◽

Multi Robot

SUMMARYSerial spherical linkages have been used in the design of a number of robots for minimally invasive surgery, in order to mechanically constrain the surgical instrument with respect to the incision. However, the typical serial spherical mechanism suffers from conflicting design objectives, resulting in an unsuitable compromise between avoiding collision with the patient and producing good kinematic and workspace characteristics. In this paper, we propose a multi-robot system composed of two redundant serial spherical linkages to achieve this purpose. A multi-objective optimization for achieving the aforementioned design goals is presented first for a single redundant robot and then for a multi-robot system. The problem of mounting multiple robots on the operating table as well as the way cooperative actions can be performed is addressed. The sensitivity of each optimal solution (single-robot and multi-robot) to uncertainties in the design parameters is investigated.

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