Design and control of a parallel mechanism haptic master for robot surgery using magneto-rheological clutches and brakes

Abstract

This article presents tracking control performances of the repulsive force and torque of a haptic master with 6 degrees of freedom, which can be applied to robot-assisted minimally invasive surgeries. The proposed haptic master is activated by two types of actuators that use magneto-rheological fluid: magneto-rheological clutch and magneto-rheological brake. The body segment (or lower part) of the haptic master generates the repulsive forces for the three translational axes using the magneto-rheological clutch, while the wrist segment (or upper part) generates the repulsive torque for the three rotational axes through the use of the magneto-rheological brake. After analyzing the kinematic and dynamic equations, an appropriately sized haptic master is designed and manufactured. The field-dependent force and torque characteristics of the magneto-rheological actuators are experimentally investigated. Then, for successful tracking control performances, a fuzzy plus proportional–integral–derivative feedback controller is used for the repulsive force while a feed-forward controller associated with a hysteretic compensator for the repulsive torque. The effectiveness of the proposed 6-degree-of-freedom haptic master is experimentally validated by demonstrating high tracking accuracy of the force and torque.

Keywords

6-degree-of-freedom haptic master robot-assisted surgery minimal invasive surgery magneto-rheological fluid repulsive force repulsive torque magneto-rheological clutch and brake tracking control

Get full access to this article

View all access options for this article.

References

Abdossalami

Sirouspour

(2009) Adaptive control for improved transparency in haptic simulations. IEEE Transactions on Haptics 2: 2–14.

Abouobaia

Bhat

Sedaghati

(2014) Hybrid torsional vibration damper incorporating conventional centrifugal pendulum vibration absorber and magnetorheo logical damper. In: ASME 2014 conference on smart materials, adaptive structures and intelligent systems, Vol. 1, Newport, RI, 8–10 September.

Albertos

Sala

(1998) Fuzzy logic controllers. Advantages and drawbacks. In: Perez

Duarte

Lefranc

(eds) Anales, vol. III. Valencia: IFAC, pp. 833–844.

Amodeo

Linares Quevedo

Joseph

et al . (2009) Robotic laparoscopic surgery: cost and training. Minerva Urologica e Nefrologica 61(2): 121–128.

Anon (1998) Use of a delta robot as a walking machine. A thesis submitted in partial fulfilment of Master of Engineering, University of Canterbury, New Zealand.

Da Vinci Surgical System (2017) Available at: http://designawards.core77.com/Commercial-Equipment/30647/da-Vinci-Xi-Surgical-System

Husain

Ahmad

Sharma

et al . (2017) Comparative analysis of defuzzification approaches from an aspect of real life problem. IOSR Journal of Computer Engineering 19(6): 19–25.

Intuitive Surgical Corporation (1999) Available at: http://www.intuitivesurgical.com (accessed 19 June 2015).

Kang

(2018) Design and control of 6-DOF Haptic Master using MR fluid for robot surgery. Master Thesis, Inha University, Incheon, South Korea.

10.

Kim

Park

et al . (2016) Force modeling for incisions into various tissues with MRF haptic master. Smart Materials and Structures 25(3): 035008.

11.

Lee

Nam

Park

et al . (2010) Transparency improvement of a 1 DOF hybrid haptic device with wide-ranged torque reflection. International Journal of Applied Electromagnetics and Mechanics 33: 47–53.

12.

Lord Corporation (2015) Available at: http://www.lordmrstore.com/lord-mr-products/mrf-132dg-magneto-rheological-fluid

13.

Nguyen

Choi

(2011) A novel rate-independent hysteresis model of a piezostack actuator using the congruency property. Smart Materials and Structures 20: 055003.

14.

Nguyen

Choi

(2012) A 3-DOF haptic master device for minimally invasive surgery. In: Proceedings of the SPIE industrial and commercial applications of smart structures technologies, vol. 8343, San Diego, CA, 12–13 March.

15.

Choi

(2014) Design of a 4-DOF MR haptic master for application to robot surgery: virtual environment work. Smart Materials and Structures 23(9): 095032.

16.

Okamura

(2009) Haptic feedback in robot assisted minimally invasive surgery. Current Opinion in Urology 19(1): 102–107.

17.

Olabi

Grunwald

(2007) Design and application of magneto-rheological fluid. Materials & Design 28(10): 2658–2664.

18.

Pacchierotti

Tirmizi

Prattichizzo

(2014) Improving transparency in teleoperation by means of cutaneous tactile force feedback. ACM Transactions on Applied Perception 11(1): 1–16.

19.

Qiu

Hamel

Lee

(2014) Design and control of a low cost 6 DOF master controller. In: Proceedings of 2014 IEEE international conference on robotics and automation, Hong Kong, China, 31 May–7 June, pp. 5313–5318. New York: IEEE.

20.

Ramsay

Pickard

Robertson

et al . (2012) Systematic review and economic modelling of the relative clinical benefit and cost-effectiveness of laparoscopic surgery and robotic surgery for removal of the prostrate in men with localised prostate cancer. Health Technology Assessment 16: 1–313.

21.

Reznik

Ghanayem

Bourmistrov

(2000) PID plus fuzzy controller structures as a design base for industrial applications. Engineering Applications of Artificial Intelligence 13(4): 419–430.

22.

Ryu

Cho

Kim

et al . (2003) Kinematic analysis and design of a 6 DOF haptic master for teleoperation of a mobile manipulator. In: IEEE/RSJ international conference on intelligent robots and systems (IROS 2003) (Cat. No.03CH37453), vol. 3, Las Vegas, NV, 27 October–1 November, pp. 2235–2340. New York: IEEE.

23.

Spaggiari

(2013) Properties and applications of Magnetorheological fluids. Frattura ed Integrita Strutturale (The Italian Research on Smart Materials and MEMS) 23: 57–61. DOI: 10.3221/IGF-ESIS.23.06

24.

Tsai

(1999) Robot Analysis: The Mechanics of Serial and Parallel Manipulators. New York: John Wiley & Sons.

25.

Vallery

Duschau-Wicke

Riener

(2009) Optimized passive dynamics improve transparency of haptic devices. In: IEEE international conference on robotics and automation, Kobe, Japan, 12–17 May, pp. 301–306. New York: IEEE.

26.

Xin

Zelek

Carnahan

(2006) Laparoscopic surgery, perceptual limitations and force: a review. In: First Canadian student conference on biomedical computing, Kingston, ON, Canada, 17–19 March, pp. 44–46. Scientific Research Publishing Inc.

27.

Zhao

Luo

et al . (2011) Transparency design of a new haptic interface. In: International conference on electrical and control engineering (ICECE), Yichang, China, 16–18 September, pp. 6193–6197. New York: IEEE.