In this paper, we designed a 8 degrees of freedom (DOFs) haptic device for applications in minimally invasive surgical robot. The device can provide three translational, three rotational and a grasping motion and force feedback capability. It is composed of three parts, including an arm mechanism, a redundant wrist mechanism and a grasper mechanism. The kinematics and gravity compensation algorithms are also detailed in the paper. In addition, the haptic device and a slave surgical robot for minimally invasive surgery (MIS) developed by our lab are integrated as a master-slave surgical robotic system in this paper. In the master-slave robotic system, a new control system is designed to realize real-time mater-slave control based on EtherCAT bus technology. Experiments show that the haptic device can effectively compensate gravity at any position in its workspace and successfully realize master-slave operation by the control method, which prove the haptic device designed in this paper can be used as a master manipulator to control the surgical robot.

在本文中，我们设计了一种8自由度（DOF）触觉设备，用于微创外科手术机器人。该设备可以提供三个平移，三个旋转以及抓握运动和力反馈能力。它由三部分组成，包括手臂机构，冗余腕部机构和抓手机构。运动学和重力补偿算法也在本文中进行了详细介绍。另外，我们实验室开发的触觉设备和用于微创外科手术的从属外科手术机器人被集成为本文的主从外科手术机器人系统。在主从机器人系统中，设计了一种新的控制系统，以实现基于EtherCAT总线技术的实时主从控制。