Abstract
This paper presents the control performance of an electrorheological (ER) fluid-basedhaptic master device connected to a virtual slave environment that can be used forminimally invasive surgery (MIS). An already developed haptic joint featuring controllableER fluid and a spherical joint mechanism is adopted for the master system. Medical forcepsand an angular position measuring device are devised and integrated with the joint toestablish the MIS master system. In order to embody a human organ in virtual space, avolumetric deformable object is used. The virtual object is then mathematically formulatedby a shape-retaining chain-linked (S-chain) model. After evaluating the reflection force,computation time and compatibility with real-time control, the haptic architecture for MISis established by incorporating the virtual slave with the master device so that thereflection force for the object of the virtual slave and the desired position for the masteroperator are transferred to each other. In order to achieve the desired force trajectories, asliding mode controller is formulated and then experimentally realized. Tracking controlperformances for various force trajectories are evaluated and presented in the timedomain.
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