Design and control of 4 DOF ER haptic master for medical application

초록

In this research, a new type of haptic master device using electrorheological (ER) fluid for minimally invasive surgery (MIS) is proposed. The proposed haptic master consists of an ER spherical joint for 3-DOF rotational motion (X, Y, Z) and an ER brake for 1-DOF translational motion (Z). Principal design parameters of the haptic master are determined based on Bingham characteristic of ER fluid and geometrical constraints. In order to demonstrate the effectiveness of the proposed haptic master, control performance is evaluated. In order to achieve desired force trajectories, a sliding mode controller (SMC) is designed and implemented. Both torque and force tracking control performances show that the proposed haptic master can be effectively applied to surgical robot system. © 2012 SPIE.