A new architecture for a haptic force-feedback master is proposed, inspired by the environmental constraints of motion in minimally invasive surgery. Its objective is to make the handling of the tool very intuitive for the surgeon by giving the feeling as if the surgeon s hand was inside the surgeon s body. The mechanical architecture of the master already reflects all environmental constraints in order to provide precise force-feedback. For the presented architecture the inverse and direct kinematics and the Jacobian are derived, a dexterity analysis is performed and the force transmission is computed. According to the results of the analysis, a set of geometrical parameters for the suggested architecture are proposed.
Design of 6-dof force feedback joystick for robotic laparoscopic surgery
ZOPPI, MATTEO;MOLFINO, REZIA
2008-01-01
Abstract
A new architecture for a haptic force-feedback master is proposed, inspired by the environmental constraints of motion in minimally invasive surgery. Its objective is to make the handling of the tool very intuitive for the surgeon by giving the feeling as if the surgeon s hand was inside the surgeon s body. The mechanical architecture of the master already reflects all environmental constraints in order to provide precise force-feedback. For the presented architecture the inverse and direct kinematics and the Jacobian are derived, a dexterity analysis is performed and the force transmission is computed. According to the results of the analysis, a set of geometrical parameters for the suggested architecture are proposed.
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