Abstract
This work presents a novel 4-degree-of-freedom (4-DOF) haptic master using magnetorheological (MR) fluid which is applicable to a robot-assisted minimally invasive surgery (RMIS) system. By using MR fluid, the proposed haptic device can easily generate bidirectional repulsive torque along the directions of the required motions. The proposed master consists of two actuators: an MR bidirectional clutch associated with a planetary gear system and an MR clutch with a bevel gear system. After demonstrating the configuration, the torque models of MR actuators are mathematically derived based on the field-dependent Bingham model. An optimal design that accounts for spatial-limitation and the desired torque constraint is then undertaken. An optimization procedure based on finite element analysis is proposed to determine optimal geometric dimensions. Based on the design procedure, MR haptic master with the optimal parameters has been manufactured. In order to demonstrate the practical feasibility of the proposed haptic master, the field-dependent generating repulsive force is measured. In addition, a proportional-integral-derivative (PID) controller is empirically implemented to accomplish the desired torque trajectories. It has been shown that the proposed haptic master can track the desired torque trajectory without a significant error.
Highlights
Robot-assisted minimally invasive surgery (RMIS) has attracted more and more interest from numerous researchers in the field of mechanical engineering and medical science
A robot-assisted minimally invasive surgery (RMIS) system usually consists of a master device which tells a surgery robot how to operate surgery using long surgical instruments and a surgery robot which operates under the guidance from the master device signal
A novel 4-DOF haptic master was developed using MR fluid which can be applicable to the RMIS
Summary
Robot-assisted minimally invasive surgery (RMIS) has attracted more and more interest from numerous researchers in the field of mechanical engineering and medical science. Since the active type directly transmits force to Advances in Mechanical Engineering the operator, it can cause safety problems [6, 7] Due to this problem, haptic devices must be further developed, because the human sense of touch is far more sensitive than the sense of sight or hearing. The most important change is related to the yield stress Due to this phenomenological behavior, the MR applications have several advantages, such as good stability, reliable control performance, and compact design. These features are ideal for haptic systems. The main contribution of this work is to propose a novel 4-DOF haptic master using magnetorheological (MR) fluid which can be applicable to RMIS systems. It is shown that the tracking control performance is good without a significant error between actual and desired torques
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