Multi-degree of freedom force feedback device using ER fluid or MR fluid

摘要

The present invention relates to an echo device, using the power of freedom ER fluid or MR fluid, more detailed that is caused by providing the spherical joint to be filled reversibly ER / MR fluid to change its state depending on the electric or magnetic field applied to the master device for medical MIS surgical instruments are provided in the slave unit in contact with the organ Depending on the size of the contact force by adjusting the strength of the electric or magnetic field to change the state of the ER / MR fluid, wherein the generation of the surgical tool is to be continuous, the slave by transmitting a physician to manipulate the precise reaction conditions in contact with the master device organ tactile information relates to the power of freedom echoed by ER fluid or MR fluid devices that can be implemented in exactly from the master. ; The present invention provides a device echo strength, rheological according to an electric or magnetic field controlling the yield stress of the ER fluid or MR fluid, causing the developer to be characterized in that the reaction force of the power control apparatus by resonance to continuously adjust the size of the torque control.