Research and Development on Multi-Degrees-of-Freedom Haptic Forceps for Surgical Simulator

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In order to realize an innovative forceps system with high haptic transmission function, it was found that a new direct-drive actuation technology should be developed. In this research, a new half-circle-shaped linear motor was developed. This motor can provide pitch motion and yaw motion of a medical forceps. From the magnetic field analysis and the experiment on the prototype, it was confirmed that the developed system could achieve a circumference motion along a circle. The improved prototype showed enough thrust characteristics. Finally, a two-degrees-of-freedom platform based on the high-thrust circular shaft motor was developed. Then, the fundamental actuation technique based on the developed motor was established.