title: Design of a haptic device with grasp and push-pull force feedback for a master-slave surgical robot.
abstract: OBJECTIVE
  We propose a portable haptic device providing grasp (kinesthetic) and push-pull (cutaneous) sensations for optical-motion-capture master interfaces.
  
  
  METHODS
  Although optical-motion-capture master interfaces for surgical robot systems can overcome the stiffness, friction, and coupling problems of mechanical master interfaces, it is difficult to add haptic feedback to an optical-motion-capture master interface without constraining the free motion of the operator's hands. Therefore, we utilized a Bowden cable-driven mechanism to provide the grasp and push-pull sensation while retaining the free hand motion of the optical-motion capture master interface. To evaluate the haptic device, we construct a 2-DOF force sensing/force feedback system. We compare the sensed force and the reproduced force of the haptic device. Finally, a needle insertion test was done to evaluate the performance of the haptic interface in the master-slave system.
  
  
  RESULTS
  The results demonstrate that both the grasp force feedback and the push-pull force feedback provided by the haptic interface closely matched with the sensed forces of the slave robot. We successfully apply our haptic interface in the optical-motion-capture master-slave system. The results of the needle insertion test showed that our haptic feedback can provide more safety than merely visual observation.
  
  
  CONCLUSIONS
  We develop a suitable haptic device to produce both kinesthetic grasp force feedback and cutaneous push-pull force feedback. Our future research will include further objective performance evaluations of the optical-motion-capture master-slave robot system with our haptic interface in surgical scenarios.
authors.affiliation: Department of Biomedical Engineering, National Cancer Center, 323, Ilsan-ro, Ilsandong-gu, Goyang-si, Gyeonggi-do, 410-769, Replublic of Korea.
authors.forename: Zhenkai
authors.initials: Z
authors.lastname: Hu
authors.affiliation: Department of Biomedical Engineering, National Cancer Center, 323, Ilsan-ro, Ilsandong-gu, Goyang-si, Gyeonggi-do, 410-769, Replublic of Korea.
authors.forename: Chae-Hyun
authors.initials: CH
authors.lastname: Yoon
authors.affiliation: Department of Biomedical Engineering, National Cancer Center, 323, Ilsan-ro, Ilsandong-gu, Goyang-si, Gyeonggi-do, 410-769, Replublic of Korea.
authors.forename: Samuel Byeongjun
authors.initials: SB
authors.lastname: Park
authors.affiliation: Department of Biomedical Engineering, National Cancer Center, 323, Ilsan-ro, Ilsandong-gu, Goyang-si, Gyeonggi-do, 410-769, Replublic of Korea. joyh@ncc.re.kr.
authors.forename: Yung-Ho
authors.initials: YH
authors.lastname: Jo
mesh_terms: D004867:Equipment Design; D005246:Feedback; D018737:Hand Strength; D006801:Humans; D007699:Kinesthesis; D009038:Motion; D055096:Optical Devices; D065287:Robotic Surgical Procedures / Q000295:instrumentation* / Q000379:methods; D012371:Robotics / Q000295:instrumentation; D025321:Surgery, Computer-Assisted / Q000379:methods*; D055698:Touch Perception; D014584:User-Computer Interface
keywords: Cutaneous force feedback; Haptic interface; Kinesthetic force feedback; Master–slave surgical robot; Optical-motion-capture master