TY - GEN
T1 - Preliminary Design of a Reconfigurable Cable-Driven Parallel Haptic Device Towards Robot-Assisted Surgery
AU - Meng, Fansheng
AU - Li, Changsheng
AU - Wen, Hao
AU - Ma, Rui
AU - Duan, Xingguang
AU - Zhang, Weijun
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - There still exist limitations in the current haptic device for robot-assisted surgery, such as complex structure and bulky size. To address the issues, this paper proposes a novel reconfigurable cable-driven parallel haptic device, consisting of three rods with vacuum chucks and six cables to achieve 5 degrees of freedom (DOFs). The reduced inertia/weight of the terminal and disturbance of the workspace are beneficial for dexterously operating. The rods as the frame can be fixed on the smooth surface freely to achieve the desired workspace with the help of vacuum chucks according to the surgical requirements. In this paper, the haptic device is presented in detail, including the mechanical design, the kinematic model, the workspace analysis, and the operation process. A simplified prototype is designed and fabricated. The experiments are conducted to evaluate the performance of the haptic device.
AB - There still exist limitations in the current haptic device for robot-assisted surgery, such as complex structure and bulky size. To address the issues, this paper proposes a novel reconfigurable cable-driven parallel haptic device, consisting of three rods with vacuum chucks and six cables to achieve 5 degrees of freedom (DOFs). The reduced inertia/weight of the terminal and disturbance of the workspace are beneficial for dexterously operating. The rods as the frame can be fixed on the smooth surface freely to achieve the desired workspace with the help of vacuum chucks according to the surgical requirements. In this paper, the haptic device is presented in detail, including the mechanical design, the kinematic model, the workspace analysis, and the operation process. A simplified prototype is designed and fabricated. The experiments are conducted to evaluate the performance of the haptic device.
UR - http://www.scopus.com/inward/record.url?scp=85128212253&partnerID=8YFLogxK
U2 - 10.1109/ROBIO54168.2021.9739414
DO - 10.1109/ROBIO54168.2021.9739414
M3 - Conference contribution
AN - SCOPUS:85128212253
T3 - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
SP - 1749
EP - 1754
BT - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
Y2 - 27 December 2021 through 31 December 2021
ER -