Design of a novel force-reflecting haptic device for minimally invasive surgery robot

Minimally Invasive Surgery (MIS) is becoming recognized as a most respected approach in performing surgeries due to its benefits to both patients and surgeons. And in the master-slave robotic MIS system, Haptic device has an essential part to play because it provides the sense of touch for the surgeon who aims to position the objects inside a patient´s body. This paper attempts to present a novel cable-driven 6-DOF serial force-reflecting haptic device for robotic MIS system. The kinematic analysis of the haptic device is performed by using a modified D-H method. Workspace is also analyzed according to the actual working condition. Simulation experiment proves that the haptic device is dexterous enough.