Design of a new haptic device and experiments in minimally invasive surgical robot

Abstract

In this paper, we designed a 8 degrees of freedom (DOFs) haptic device for applications in minimally invasive surgical robot. The device can provide three translational, three rotational and a grasping motion and force feedback capability. It is composed of three parts, including an arm mechanism, a redundant wrist mechanism and a grasper mechanism. The kinematics and gravity compensation algorithms are also detailed in the paper. In addition, the haptic device and a slave surgical robot for minimally invasive surgery (MIS) developed by our lab are integrated as a master-slave surgical robotic system in this paper. In the master-slave robotic system, a new control system is designed to realize real-time mater-slave control based on EtherCAT bus technology. Experiments show that the haptic device can effectively compensate gravity at any position in its workspace and successfully realize master-slave operation by the control method, which prove the haptic device designed in this paper can be used as a master manipulator to control the surgical robot.

Keywords:

• Haptic device
• minimally invasive surgery
• surgical robot
• master-slave control

Acknowledgement

This work was supported by the National High Technology Research and Development Program of China (“863 Program”) (Grant No. 2012AA041601), the National Natural Science Foundation of China (Grant No.61305139), Self-Planned Task (No. SKLRS201406B) of State Key Laboratory of Robotics and System (HIT), the Fundamental Research Funds for the Central Universities (Grant No. HIT. NSRIF. 2013052).

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

This work was supported by the National High Technology Research and Development Program of China (“863 Program”) (Grant No. 2012AA041601), the National Natural Science Foundation of China (Grant No.61305139), Self-Planned Task (No. SKLRS201406B) of State Key Laboratory of Robotics and System (HIT), the Fundamental Research Funds for the Central Universities (Grant No. HIT. NSRIF. 2013052).