Design and modeling of spherical joint haptic master for MIS robot using electrorheological fluid

This study presents the configuration and modeling of ER haptic mater for minimally invasive surgery (MIS) robot. The ER haptic master device that consists of spherical joint as an inner electrode and sphere housing as an outer electrode has 3-DOF rotational motion. Using ER fluid, the proposed haptic master generates a repulsive torque and provides a stimulus information to operator. The rotational motion of the haptic master is realized by slave surgery robot in MIS. To follow the motion of the haptic master, the mechanism of slave surgery robot is devised and kinematic analysis is conducted.