Modeling and Control of Single and Two Degree of Freedom Magnetorheological Fluid-based Haptic Systems for Telerobotic Surgery

Abstract

In this study, the authors develop haptic systems for telerobotic surgery exploiting MR fluids for semiactive force feedback. To investigate the full range of tactile force exhibited by a particular MR damper design, a microstructural 3D kinetic theory-based model of MR fluids has been developed. In this model, microscale constitutive equations relate flow, stress, and particle orientation. The higher accuracy of the model in this regard gives better force representations of highly compliant objects. In this article, the model is utilized in forcefeedback control of both a SDOF system and a 2DOF system. A state-feedback control algorithm is employed to track both the SDOF system, and the 2DOF system using specially designed MR force-feedback joysticks. The results demonstrate that the MR fluid-based forcefeedback joysticks can be used effectively as haptic devices. It is also observed that both SDOF and 2DOF systems are nearly transparent in replicating the stiffness of different external objects, due to the light weight of the semiactive system and controller implementation.

A Magnetorheological Fluids-Based Robot-Assisted Catheter/Guidewire Surgery System for Endovascular Catheterization

“…In recent years, magnetorheological (MR) fluids have been used as the most typical representative of intelligent materials in haptic devices to improve the effectiveness of the human-machine interface because of its high permeability and low hysteresis. Its applications in haptic and force feedback devices have been reported in the literature [26][27][28]. In these studies, haptic systems with MR fluids on the operation side were proposed to acquire tactile sensation for telerobotic surgeries.…”

Magneto-Rheological actuators for haptic devices: Design, modeling, control, and validation of a prototype clutch

“…MODELING AND CONTROL MRF-based actuators suffer from nonlinear hysteretic relationships between the input current and output torque. [9] Disk ∅15cm 0.9Nm Melli-Huber et al [10] Disk ∅4.3×2cm 0.7 Nm Furusho et al [11] Disk ∅20cm 2.0Nm Yamaguchi et al [12] Disk ∅17cm 10Nm Blake et al [13] Disk ∅2.5×1.4cm 0.2 Nm Nguyen et al [14] Disk ∅10cm 10 Nm Ahmadkhanlou et al [15] Drum ∅8×10cm 1.5Nm…”

Scissors-Type Haptic Device Using Magnetorheological Fluid Containing Iron Nanoparticles

“…Haptic devices use magnetorheological fluid (MR fluid) to display tactile information that can be perceived during surgery [10][11][12][13][14][15][16][17]. The rheological properties of fluids containing dispersed ferromagnetic particles of 1-10 µm diameter drastically change under magnetic fields due to the formation of particle clusters.…”