In robotic surgery, a surgeon checks only a surgical site of patient in the progress of surgery by vision and sound information. In order to solve this limited information, the haptic function is necessary. And haptic surgical robot is also necessary to design a haptic master device. The master device for laparoscope operation with cable-conduit was developed in previous research to give haptic function. It suggested a possibility of developing a master device by using the cable-conduit. However, it is very inconvenient to use. Therefore, this paper suggests a new mechanism design structure to solve the problems of the previous work by new forming a new master device. And it has proved that it’s usability is better than previous one. Furthermore it has also experimented and analyzed that a backlash of new master device is compensated by smooth backlash inverse algorithm.

• 최우혁(Interdisciplinary Program in Robotics, Pusan National University) | Choi Woo Hyeok
• 윤성민(Mechanical Engineering, Pusan National University) | Yoon Sung Min
• 이민철(Department of Mechanical Engineering, Pusan National University) | Lee Min Cheol Corresponding author