| Abstract: | A haptic device for telerobotic surgery, including a base; a linkage
system having first and second linkage members coupled to the base; a
motor that provides a motor force; a transmission including first and
second driving pulleys arranged such that their faces form an angle and
their axes form a plane, first and second idler pulleys offset from the
plane and arranged between the first and second driving pulleys such that
their axes divide the angle between the first and second driving pulleys,
and a cable that traverses the first and second driving pulleys and the
set of idler pulleys and transfers the motor force to the linkage system;
an end effector coupled to distal ends of the first and second linkage
members and maneuverable relative to the base; and a controller that
modulates the motor force to simulate a body part at a point portion of
the end effector. |