Master device for needle insertion-type interventional robotic system

In this paper, we develop a master device for needle insertion-type interventional robotic system. In minimally invasive interventional therapy using long and flexible needles, realistic motion and force reflection of the needle must be guaranteed to a doctor in the teleoperation system for successful procedure. We analyze the motion and force information of the three doctors while they perform needle interventional therapy to a phantom tissue. On the basis of the data, the required full range of motion and reflective force for the master device is determined. A 6 DOF master device with needle-type handle is designed and developed to implement sufficient workspace and force by combining two delta robot-type mechanisms.