Control of haptic master – slave robot system for minimally invasive surgery (MIS)

Abstract

In this work, 4 degrees-of-freedom (DOF) haptic master featuring electrorheological (ER) fluid is proposed and integrated with a slave. Using an ER fluid, the haptic master is devised which can generate a repulsive force/torque with the 4-DOF motion and provide stimulus information to operator. For realization of master-slave MIS system, an encoder is installed with the ER haptic master to establish the MIS master system. The motion command of the haptic master is realized by slave surgery robot. In order to follow the motion of the haptic master, the mechanism of slave surgery robot is devised. Accordingly, the haptic master-slave system is established by incorporating the slave robot with the haptic master device in which the repulsive force/torque and desired position are transferred to each other. In order to obtain the desired torque trajectories, a sliding mode controller (SMC) is designed and implemented. It has been demonstrated that the desired effective torque tracking control performance is well achieved using the proposed master-slave system.