Design of a 7 Degree-of-Freedom Haptic Robot
Marince, Christopher Evan
In efforts to improve the abilities of surgeons through robotic technology, surgical systems need to be equipped with haptic feedback to better provide a sense of realism for the doctor performing an operation. The benefits of such systems include greater dexterity for the doctor, motion scaling to allow a more natural workspace, less invasive procedures, and kinesthetic feedback. Additionally, these robots serve as an educational tool for training surgeons in virtual environments as opposed to on living tissue. The robot presented in this thesis was designed for use in robot-assisted surgery and surgical training. The system is a high-performance haptic robot that uses a three link gimbal mounted onto a five bar linkage to provide seven degrees-of-freedom without compromising the magnitude of the force-feedback. The resulting system is gravitationally compensated and lightweight for easy manipulation. The robot exceeds the standards set by other commercially available systems for force-feedback, torque-feedback, translational workspace, and angular workspace. The result is a viable haptic robot for surgical research.