Design of a 5-dof haptic simulator for urological operations

Author

Papadopoulos, Evangelos ; Vlachos, Kostas ; Mitropoulos, Dionyssios

Author_Institution

Dept. of Mech. Eng., Nat. Tech. Univ. of Athens, Greece

Volume

2

fYear

2002

fDate

2002

Firstpage

2079

Abstract

A haptic feedback mechanism with five active degrees of freedom (dof), part of a training simulator for urological operations, is presented. The mechanism consists of a 2-dof 5-bar linkage, and a 3-dof spherical joint. To reproduce very small forces and moments, the mechanism has low friction, inertia and mass, is statically balanced, and has a simple mass matrix. Roll-pitch-yaw motions of the tool result in motions of the corresponding actuator. Force feedback transmission is achieved via capstan drives and idler pulleys. The computation of the currents and the structure of the control loop are described.

Keywords

computer based training; force feedback; haptic interfaces; kinematics; surgery; virtual reality; 2 DOF 5-bar linkage; 3 DOF spherical joint; 5 DOF haptic simulator; capstan drives; control loop; force feedback transmission; idler pulleys; low friction; mass matrix; roll-pitch-yaw motions; training simulator; urological operations; Actuators; Computational modeling; Force feedback; Friction; Haptic interfaces; Imaging phantoms; Laparoscopes; Medical simulation; Surgery; Virtual reality;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on

Print_ISBN

0-7803-7272-7

Type

conf

DOI

10.1109/ROBOT.2002.1014847

Filename

1014847