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http://dx.doi.org/10.7746/jkros.2014.9.1.048

Improvement of surgical haptic master device using cable-conduit and backlash compensation by smooth backlash inverse  

Choi, Woo Hyeok (Interdisciplinary Program in Robotics, Pusan National University)
Yoon, Sung Min (Mechanical Engineering, Pusan National University)
Lee, Min Cheol (Department of Mechanical Engineering, Pusan National University)
Publication Information
The Journal of Korea Robotics Society / v.9, no.1, 2014 , pp. 48-56 More about this Journal
Abstract
In robotic surgery, a surgeon checks only a surgical site of patient in the progress of surgery by vision and sound information. In order to solve this limited information, the haptic function is necessary. And haptic surgical robot is also necessary to design a haptic master device. The master device for laparoscope operation with cable-conduit was developed in previous research to give haptic function. It suggested a possibility of developing a master device by using the cable-conduit. However, it is very inconvenient to use. Therefore, this paper suggests a new mechanism design structure to solve the problems of the previous work by new forming a new master device. And it has proved that it's usability is better than previous one. Furthermore it has also experimented and analyzed that a backlash of new master device is compensated by smooth backlash inverse algorithm.
Keywords
cable-conduit; tendon; backlash; compensation; haptic device;
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Times Cited By KSCI : 2  (Citation Analysis)
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