Residual force based optimization of 8 DOF haptic master device

This paper discusses optimization of the 4 links of an 8 DOF haptic master device in order to minimize dynamics effects of the device on human hand during minimally invasive surgical operation. In minimally invasive surgery, because of limited information from surgical scene, sensation of feedback force and manipulability of device are important factors to be accounted. Therefore, optimization of the device is required for improved efficiency of surgical procedures. To achieve this purpose, physical meaning of a new global performance index is introduced. That index is responsible to minimize the residual force on human hand after implementing the dynamics compensation of the device by a controller.