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Experimental Robotics pp 61–72Cite as

Haptic Control Implementation of a 3-RRR Spherical Parallel Manipulator for Medical Uses

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Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 109))

Abstract

This paper presents a set of experiments which have been carried out in order to design a task oriented device, for teleoperated minimally invasive surgery. The workspace of the slave robot has been identified from the motion of an expert surgeon performing an anastomosis task thanks to the Nexus motion capture system. A system composed of master and slave robots as well as its controller has been designed, built and tested. This system provides to the surgeon a force feedback through a current loop of the actuators of the master device. Experiments are carried out and presented in order to show the feasibility of the control force feedback.

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Acknowledgments

This research is supported by the Poitou-Charentes region 2007–2013 (program project 10 Images and interactivities), in partnership with the European Union (FEDER/ERDF, European Regional Development Fund). This research is supported by ROBOTEX, the French national network of robotics platforms (Project Number ANR-10-EQPX-44-01).

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Authors and Affiliations

  1. Department GMSC, Pprime Institute, CNRS - University of Poitiers - ENSMA - UPR 3346, Poitiers, France

    Houssem Saafi, Med Amine Laribi & Said Zeghloul

Authors
  1. Houssem Saafi
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  2. Med Amine Laribi
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  3. Said Zeghloul
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Corresponding author

Correspondence to Med Amine Laribi .

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Editors and Affiliations

  1. Drexel University, Philadelphia, Pennsylvania, USA

    M. Ani Hsieh

  2. Department of Computer Science, Stanford University, Stanford, California, USA

    Oussama Khatib

  3. Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, Pennsylvania, USA

    Vijay Kumar

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Saafi, H., Laribi, M.A., Zeghloul, S. (2016). Haptic Control Implementation of a 3-RRR Spherical Parallel Manipulator for Medical Uses. In: Hsieh, M., Khatib, O., Kumar, V. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 109. Springer, Cham. https://doi.org/10.1007/978-3-319-23778-7_5

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  • DOI: https://doi.org/10.1007/978-3-319-23778-7_5

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-23777-0

  • Online ISBN: 978-3-319-23778-7

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