Design and characterization of a 7-DOF haptic interface for a minimally invasive surgery test-bed

Author

Bassan, H. ; Talasaz, A. ; Patel, R.V.

Author_Institution

Dept. of Electr. & Comput. Eng., Univ. of Western Ontario, London, ON, Canada

fYear

2009

fDate

10-15 Oct. 2009

Firstpage

4098

Lastpage

4103

Abstract

In this paper, we present the design of a 7 degrees-of-freedom (DOF) Haptic Interface for applications in Minimally Invasive Surgery (MIS). The design of the interface is based on an existing dual-panthograph Haptic Wand and is capable of position and force reflection in three translational, three rotational DOF and grasping motion. The paper presents the implementation of a novel cable driven differential transmission to include the yaw and grasping force reflection to the interface. The kinematic and dynamic properties of the interface are characterized and presented. Experimental results demonstrate that the device is capable of high-force reflection with good transparency.

Keywords

haptic interfaces; medical robotics; surgery; 7-DOF haptic interface; differential transmission; dual-panthograph haptic wand; grasping force reflection; grasping motion; high-force reflection; minimally invasive surgery test-bed; Application software; Force feedback; Grasping; Haptic interfaces; Kinematics; Minimally invasive surgery; Reflection; Robot sensing systems; Surgical instruments; Testing; Haptic interface; force-feedback; minimally invasive surgery;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on

Conference_Location

St. Louis, MO

Print_ISBN

978-1-4244-3803-7

Electronic_ISBN

978-1-4244-3804-4

Type

conf

DOI

10.1109/IROS.2009.5354211

Filename

5354211