Force perception plays an indispensable role in the surgical process and will be of great value in the medical field. It has a significant impact on the quality, efficiency and safety of surgery. The main purpose of this research is to design, control and evaluate a haptic device. An improved method of the output force is proposed, which based on the structure of the 2-DOF joystick consisting of motors, drives and sensors. The improved Energy-bounding algorithm (EBAC) is designed to output stable torque while considering static compensation. In order to compare the performance of three methods of Torque-control algorithm (TCA), Energy-bounding algorithm (EBA) and the EBAC, a virtual wall test is conducted in CHAI3D. The test results show that the EBAC has good real-time performance and reliability. The calculating precision of device is 0.03 mm, the workspace is 200 mm and the output force is within 10.6 N (continuous force) and 42.4 N (peak force).

This work is published on Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019 :Xue ZY,Wang CY,He X,et al. 2-DOF Haptic Device based on Closed-loop EBA Controller for Gastroscope Intervention[C]. New York:IEEE,2019:1806-1811.