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Open AccessArticle

Material Characterization of Hardening Soft Sponge Featuring MR Fluid and Application of 6-DOF MR Haptic Master for Robot-Assisted Surgery

1
Division of Mechanical & Automotive Engineering, Kongju National University, Cheonan-Si 31080, Korea
2
Department of Mechanical Design Engineering, Kumoh National Institute of Technology, Gumi-Si 39177, Korea
3
Smart Structures and Systems Laboratory, Department of Mechanical Engineering, Inha University, Incheon 22181, Korea
*
Author to whom correspondence should be addressed.
Materials 2018, 11(8), 1268; https://doi.org/10.3390/ma11081268
Received: 20 June 2018 / Revised: 16 July 2018 / Accepted: 20 July 2018 / Published: 24 July 2018
In this work, the material characterization of hardening magneto-rheological (MR) sponge is analyzed and a robot-assisted surgery system integrated with a 6-degrees-of-freedom (DOF) haptic master and slave root is constructed. As a first step, the viscoelastic property of MR sponge is experimentally analyzed. Based on the viscoelastic property and controllability, a MR sponge which can mimic the several reaction force characteristics of human-like organs is devised and manufactured. Secondly, a slave robot corresponding to the degree of the haptic master is manufactured and integrated with the master. In order to manipulate the robot motion by the master, the kinematic analysis of the master and slave robots is performed. Subsequently, a simple robot cutting surgery system which is manipulated by the haptic master and MR sponge is established. It is then demonstrated from this system that using both MR devices can provide more accurate cutting surgery than the case using the haptic master only. View Full-Text
Keywords: hardening sponge; MR sponge; 6 degrees-of-freedom (6-DOF) MR haptic master; RMIS (robot-assisted minimally invasive surgery) hardening sponge; MR sponge; 6 degrees-of-freedom (6-DOF) MR haptic master; RMIS (robot-assisted minimally invasive surgery)
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Oh, J.-S.; Sohn, J.W.; Choi, S.-B. Material Characterization of Hardening Soft Sponge Featuring MR Fluid and Application of 6-DOF MR Haptic Master for Robot-Assisted Surgery. Materials 2018, 11, 1268.

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