a State Key Laboratory of Robotics and System , Harbin Institute of Technology , Harbin , China.
Comput Assist Surg (Abingdon). 2017 Dec;22(sup1):240-250. doi: 10.1080/24699322.2017.1389402. Epub 2017 Oct 26.
In this paper, we designed a 8 degrees of freedom (DOFs) haptic device for applications in minimally invasive surgical robot. The device can provide three translational, three rotational and a grasping motion and force feedback capability. It is composed of three parts, including an arm mechanism, a redundant wrist mechanism and a grasper mechanism. The kinematics and gravity compensation algorithms are also detailed in the paper. In addition, the haptic device and a slave surgical robot for minimally invasive surgery (MIS) developed by our lab are integrated as a master-slave surgical robotic system in this paper. In the master-slave robotic system, a new control system is designed to realize real-time mater-slave control based on EtherCAT bus technology. Experiments show that the haptic device can effectively compensate gravity at any position in its workspace and successfully realize master-slave operation by the control method, which prove the haptic device designed in this paper can be used as a master manipulator to control the surgical robot.
在本文中，我们设计了一种 8 自由度（DOFs）的力触觉设备，用于微创手术机器人。该设备可以提供三个平移、三个旋转和一个抓取运动以及力反馈能力。它由三个部分组成，包括臂机构、冗余手腕机构和夹持器机构。本文还详细介绍了运动学和重力补偿算法。此外，本文将力触觉设备与我们实验室开发的用于微创手术（MIS）的从动手术机器人集成到一个主从手术机器人系统中。在主从机器人系统中，设计了一个新的控制系统，基于 EtherCAT 总线技术实现实时主从控制。实验表明，该力触觉设备可以在其工作空间中的任何位置有效地补偿重力，并通过控制方法成功实现主从操作，这证明了本文设计的力触觉设备可以用作主操纵器来控制手术机器人。
