Browse > Article
http://dx.doi.org/10.5050/KSNVE.2013.23.1.041

A Haptic Master-slave Robot System : Experimental Performance Evaluation for Medical Application  

Oh, Jong-Seok (Mechanical Engineering, Inha University)
Shin, Won-Ki (Mechanical Engineering, Inha University)
Nguyen, Phuong-Bac (Mechanical Engineering, Inha University)
Uhm, Chang-Ho (Mechanical Engineering, Inha University)
Choi, Seung-Bok (Mechanical Engineering, Inha University)
Publication Information
Transactions of the Korean Society for Noise and Vibration Engineering / v.23, no.1, 2013 , pp. 41-48 More about this Journal
Abstract
In this work, 4-DOF ER haptic master is proposed and integrated with a slave robot for minimally invasive surgery(MIS). Using a controllable ER fluid, the haptic master can generate a repulsive force/torque with the 4-DOF motion. For realization of master-slave robot system, the motion command of the haptic master is realized by slave surgery robot. In order to follow the 4-DOF motion of the haptic master, novel mechanism of slave surgery robot with gimbal joint is devised. Accordingly, the haptic master-slave robot system is established by incorporating the slave robot with the haptic master device in which the desired repulsive force/torque and position are transferred to each other via wireless communications. In order to obtain the desired force/torque and position trajectories, tracking controllers for haptic master and slave robot are designed and implemented, respectively. It has been demonstrated that the desired effective torque tracking control performance is well achieved using the proposed haptic master-slave robot system.
Keywords
Haptic Master; Slave Robot; Minimally Invasive Surgery; Teleoperation; Wireless Communication; Gimbal Joint;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
1 Boku, K. and Nakamura, T., 2009, Development of 3-DOF Soft Manipulator with ER Fluid Clutches, Journal of Intelligent Material System and Structures, Vol. 21, No. 15, pp. 1563-1567.
2 Intuitive surgical, www. intuitivesurgical.com.
3 Jianmin, L., Shuxin, W., Xiaofei, W. and Chao, H., 2010, Optimization of a Novel Mechanism for a Minimally Invasive Surgery Robot, International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 6, No. 1, pp. 83-90.   DOI
4 Jose, N. S., Nocolas, G., Carlos, P., Eduardo, F., Roque, S. and Miguel, A., 2010, Kinematics of a Robotic 3UPSiS Spherical Wrist Designed for Laparoscopic Applications, International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 6, No. 3, pp. 291-300.   DOI   ScienceOn
5 Seong, M. S., Ha, S. H., Nguyen, Q. H. and Choi, S. B., 2009, Dynamic Modeling of ER Damper Considering Fluid Compressibility, Transactions of the Korean Society for Noise and Vibration Engineering, Vol. 19, No. 7, pp. 659-666.   과학기술학회마을   DOI   ScienceOn
6 Oh, J. S., Shin, W. K., Uhm, C. H., Lee, S. R., Han, Y. M. and Choi, S. B., 2012, Control of Haptic Master - Slave Robot System for Minimally Invasive Surgery(MIS), Proceedings of the 12th International Conference of ER Fluids and MR Suspensions, Ankara, Turkey, pp. 96-102.
7 Guthart, G. S. and Jr. Salisbury, J. K., 2000, The Intuitive Telesurgery System: Overview and Application, Proceedings of the IEEE International Conference on Robotics and Automation, pp. 618-621.
8 Yamaguchi, Y., Furusho, J., Kimura, S. and Koyanagi, K., 2004, High-performance 2D Force Display System Using MR Actuators, Proc. 2004 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Sendai, Japan, pp. 2911-2917.
9 Pierrot, F., Dombre, E., D'egoulange, E., Urbain, L., Caron, P., Sylvie, B., Gari'epy, J. and M'egnien, J., 1999, A Safe Robot Arm for Medical Applications with Force Feedback, Medical Image Analysis, Vol. 3, No. 3, pp. 285-300.   DOI   ScienceOn
10 Kang, P. S., Han, Y. M. and Choi, S. B., 2006, Force-feedback Control of an Electrorheological Haptic Device in MIS Virtual Environment, Transactions of the Korean Society for Noise and Vibration Engineering, Vol. 16, No. 12, pp. 1286-1293.   과학기술학회마을   DOI   ScienceOn
11 Han, Y. M. and Choi, S. B., 2008, Control of an ER Haptic Master in a Virtual Slave Environment for Minimally Invasive Surgery Applications, Smart Materials & Structures, Vol. 17, No. 6, pp. 065012.   DOI   ScienceOn
12 Senkal, D. and Gorocak, H., 2009, Spherical Brake with MR Fluid as Multi Degree of Freedom Actuators for Haptics, Journal of Intelligent Material System and Structures, Vol. 20, No. 18, pp. 2149-2160.   DOI