The sigma.7 haptic interface for MiroSurge: A new bi-manual surgical console

Andreas Tobergte, Patrick Helmer, Ulrich Hagn, Patrice Rouiller, Sophie Thielmann, Sébastien Grange, Alin Albu-Schäffer, François Conti, Gerd Hirzinger

Publikation: Beitrag in Buch/Bericht/KonferenzbandKonferenzbeitragBegutachtung

108 Zitate (Scopus)

Abstract

This paper presents the design and control of the sigma.7 haptic device and the new surgical console of the MiroSurge robotic system. The console and the haptic devices are designed with respect to requirements in minimally invasive robotic surgery. Dedicated left and right handed devices are integrated in an operator console in an ergonomic configuration. The height of the whole console is adjustable, allowing the surgeon seated and standed operation. Each of the devices is fully actuated in seven degrees of freedom (DoF). A parallel mechanism with 3 DoF actuates the translational motion and an attached wrist with 3 intersecting axis drives the rotations of the grasping unit. This advantageous design leads to inherently decoupled kinematics and dynamics. Cartesian forces are 20 N within the translational workspace, which is a sphere of about 120 mm diameter for each device. The rotational wrist of the device covers the whole workspace of the human hand and provides maximum torques of about 0.4 Nm. The grasping unit can display forces up to 8 N. An integrated force/torque sensor is used to increase the transparency of the devices by reducing inertia and friction. It is theoretically shown that the non-linear closed loop system behaves like a passive system and experimental results validate the approach. The sigma.7 haptic devices are designed by Force Dimension in cooperation with the German Aerospace Center (DLR). DLR designed the surgical console and integrated the haptic devices in the MiroSurge system.

OriginalspracheEnglisch
TitelIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
UntertitelCelebrating 50 Years of Robotics
Seiten3023-3030
Seitenumfang8
DOIs
PublikationsstatusVeröffentlicht - 2011
Extern publiziertJa
Veranstaltung2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, USA/Vereinigte Staaten
Dauer: 25 Sept. 201130 Sept. 2011

Publikationsreihe

NameIEEE International Conference on Intelligent Robots and Systems

Konferenz

Konferenz2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Land/GebietUSA/Vereinigte Staaten
OrtSan Francisco, CA
Zeitraum25/09/1130/09/11

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