Mechanical Design of Haptic Forceps for Robotic Surgery

Robotic forceps were designed to meet the ergonomic requirements imposed by surgeons while providing a high-fidelity haptic interface. The forceps are designed as a master device used to control single degree-of-freedom surgical tools and accurately convey the sensations detected. The forceps are modular with completely integrated control electronics, operating with only a power source and a two-wire serial connection to a controlling computer. They are designed to “plug in” to a haptic hand controller using a suitably modified stylus adapter or connect directly to a cable. The forceps employ a contact-free magnetic position sensor with sub micron resolution as well as accelerometers to measure opening and closing acceleration. Actuation is accomplished with a contact-free high-bandwidth voice coil actuator that is expected to generate peak opening and closing forces over 7N with a force resolution less than 5mN.