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International Journal of Computer Assisted Radiology and Surgery

Erschienen in:

01.07.2016 | Original Article

Design of a haptic device with grasp and push–pull force feedback for a master–slave surgical robot

verfasst von: Zhenkai Hu, Chae-Hyun Yoon, Samuel Byeongjun Park, Yung-Ho Jo

Erschienen in: International Journal of Computer Assisted Radiology and Surgery | Ausgabe 7/2016

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Abstract

Purpose

We propose a portable haptic device providing grasp (kinesthetic) and push–pull (cutaneous) sensations for optical-motion-capture master interfaces.

Methods

Although optical-motion-capture master interfaces for surgical robot systems can overcome the stiffness, friction, and coupling problems of mechanical master interfaces, it is difficult to add haptic feedback to an optical-motion-capture master interface without constraining the free motion of the operator’s hands. Therefore, we utilized a Bowden cable-driven mechanism to provide the grasp and push–pull sensation while retaining the free hand motion of the optical-motion capture master interface. To evaluate the haptic device, we construct a 2-DOF force sensing/force feedback system. We compare the sensed force and the reproduced force of the haptic device. Finally, a needle insertion test was done to evaluate the performance of the haptic interface in the master–slave system.

Results

The results demonstrate that both the grasp force feedback and the push–pull force feedback provided by the haptic interface closely matched with the sensed forces of the slave robot. We successfully apply our haptic interface in the optical-motion-capture master–slave system. The results of the needle insertion test showed that our haptic feedback can provide more safety than merely visual observation.

Conclusions

We develop a suitable haptic device to produce both kinesthetic grasp force feedback and cutaneous push–pull force feedback. Our future research will include further objective performance evaluations of the optical-motion-capture master–slave robot system with our haptic interface in surgical scenarios.

Vorheriger Artikel Estimating needle tip deflection in biological tissue from a single transverse ultrasound image: application to brachytherapy

Nächster Artikel Control of a hybrid robotic system for computer-assisted interventions in dynamic environments

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Titel: Design of a haptic device with grasp and push–pull force feedback for a master–slave surgical robot
verfasst von: Zhenkai Hu
Chae-Hyun Yoon
Samuel Byeongjun Park
Yung-Ho Jo
Publikationsdatum: 01.07.2016
Verlag: Springer Berlin Heidelberg
Erschienen in: International Journal of Computer Assisted Radiology and Surgery / Ausgabe 7/2016
Print ISSN: 1861-6410
Elektronische ISSN: 1861-6429
DOI: https://doi.org/10.1007/s11548-015-1324-9

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Abstract

Purpose

Methods

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Conclusions

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