A Cylindrical Grip Type of Tactile Device Using Magneto-Responsive Materials Integrated with Surgical Robot Console: Design and Analysis

Abstract

This paper proposes a cylindrical grip type of tactile device that is effectively integrated to a surgical robot console so that a surgeon can easily touch and feel the same stiffness as the operating organs. This is possible since the yield stress (or stiffness) of magnetic-responsive materials can be tuned or controlled by the magnetic field intensity. The proposed tactile device consists of two main parts: a magnetorheological elastomer (MRE) layer and a magnetorheological fluid (MRF) core. The grip shape of the device to be positioned on the handle part of the master of the surgical robot is configured and its operating principle is discussed. Then, a couple of equations to calculate the stiffness from the gripping force and the field-dependent yield stress of MRF are derived and integrated using the finite element analysis (FEA) model. After simulating the stiffness of the proposed tactile device as a function of the magnetic field intensity (or current), the stiffnesses of various human organs, including the liver and heart, are calculated from known data of an elastic modulus. It is demonstrated from comparative data between calculated stiffness from human tissues and simulated stiffness from FEA that the proposed tactile device can generate sufficient stiffness with a low current level to recognize various human organs which are significantly required in the surgical robot system.

Sensors and Sensing Devices Utilizing Electrorheological Fluids and Magnetorheological Materials – a Review

“…It has been confirmed that the proposed tactile transfer cell can mimic the repulsive force (hardness) of several human organs. Park et al [71] presented a dynamic tactile device utilizing a spherical shape of MR structure whose dynamic motions of magnitude and frequency can be controlled by the magnetic field intensity. After manufacturing a prototype, a sinusoidal magnetic field which has different exciting frequency and magnitude is applied to the sample, and then the dynamic motion of the contraction and relaxation depending on the exciting magnetic field has been observed.…”

An Overview of Minimally Invasive Surgery Robots from the Perspective of Human–Computer Interaction Design

“…(2) Exploring more usable and lower-cost haptic feedback systems: Jin et al [75] developed a new robot tactile sensing auxiliary system, which realized force feedback based on magneto-rheological fluid and helped surgeons to better detect the force situation between surgical instruments and the vascular environment. Park et al [76] created a grip-type haptic device and integrated it into the surgical robot console, enabling surgeons to have the same tactile experience as traditional surgery. Kim et al [77] proposed a haptic device designed based on magneto-rheological sponge cells to provide feedback on organ viscoelasticity.…”

Magnetorheological Fluid-Based Haptic Feedback Damper

“…Utilizing this effect, magnetorheological fluids (MRFs) have many applications in various fields, such as in the industrial sector, where external magnetic fields can be manipulated to regulate local flow resistance and pressure, thus maintaining bearing clearance under varying loads and enhancing bearing work stability [9,10]. In the healthcare domain, MRFs can be employed for drug delivery or improvement of the tactile feedback experience for distant surgery [11][12][13]. In finishing processes, the incorporation of abrasive particles within an MRF results in a magnetorheological polishing fluid that forms regular micro-abrasive heads under gradient magnetic fields that remove minute surface material from workpieces [14].…”