Design of Master Console Haptic Handle for Robot Assisted Laparoscopy

Abstract

Now robot assisted laparoscopy has some problem to depend only on image of the surgical field. However, there is a research result which shows that it is possible to measure the operation force on commercialized instrument inside patient without sensors [1]. By using measured information, haptic technique can be implemented into surgical robot system. Therefore, this paper proposes the design of master console handle to put haptic function into laparoscopy surgical robot system. The design is centered on the implementation particularly. Therefore this paper suggests the design of master console handle whose structure can match with the joint and DOF of instrument to and the adoption of cable-conduit mechanism to make light structure t to perform a delicate haptic function. Cable-conduit mechanism removes the weight and inertia of link caused by haptic actuator and encoder which is separated from handle link.