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2006 International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS'06)
Design and Development of a General Purpose 7 DOF Haptic Device
Alexandria, Virginia
March 25-March 29
ISBN: 1-4244-0226-3
ASCII Text
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Gregory Tholey, Jaydev P. Desai, "Design and Development of a General Purpose 7 DOF Haptic Device," Haptic Interfaces for Virtual Environment and Teleoperator Systems, International Symposium on, pp. 16, 2006 International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS'06), 2006.
 
 
BibTex
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@article{ 10.1109/VR.2006.46,
author = {Gregory Tholey and Jaydev P. Desai},
title = {Design and Development of a General Purpose 7 DOF Haptic Device},
journal ={Haptic Interfaces for Virtual Environment and Teleoperator Systems, International Symposium on},
volume = {0},
year = {2006},
isbn = {1-4244-0226-3},
pages = {16},
doi = {http://doi.ieeecomputersociety.org/10.1109/VR.2006.46},
publisher = {IEEE Computer Society},
address = {Los Alamitos, CA, USA},
}
 
 
RefWorks Procite/RefMan/Endnote
x 
 
TY - CONF
JO - Haptic Interfaces for Virtual Environment and Teleoperator Systems, International Symposium on
TI - Design and Development of a General Purpose 7 DOF Haptic Device
SN - 1-4244-0226-3
SP
EP
A1 - Gregory Tholey,
A1 - Jaydev P. Desai,
PY - 2006
KW - haptic
KW - minimally invasive surgery
KW - robotic surgery
KW - surgical simulation
VL - 0
JA - Haptic Interfaces for Virtual Environment and Teleoperator Systems, International Symposium on
ER -
 
Gregory Tholey, Drexel University
Jaydev P. Desai, Drexel University
A seven degree-of-freedom (DOF) haptic device has been developed with applications towards robot-assisted minimally invasive surgery. The device consists of four degrees of force feedback (X, Y, Z, and grasping) capability and seven degrees of freedom for positioning capability. The haptic device is a closed kinematic chain with two halves (user interface and spatial mechanism) connected by a universal joint. Kinematic analysis of the haptic device has been developed with the particular goal of computing the slave robot position and the end point configuration of the laparoscopic tool. Additionally, the achievable workspace of the mechanism has been calculated based on the motion of each half of the device. Friction modeling and its compensation has also been presented to enable higher transparency of the haptic device.
Index Terms:
haptic, minimally invasive surgery, robotic surgery,surgical simulation
Citation:
Gregory Tholey, Jaydev P. Desai, "Design and Development of a General Purpose 7 DOF Haptic Device," haptics, pp.16, 2006 International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS'06), 2006
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