Title :
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
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;
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
DOI :
10.1109/IROS.2009.5354211
