Research of the master-slave robot surgical system with the function of force feedback

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS
Yunyong ShiZe Deng

Abstract

Surgical robots lack force feedback, which may lead to operation errors. In order to improve surgical outcomes, this research developed a new master-slave surgical robot, which was designed with an integrated force sensor. The new structure designed for the master-slave robot employs a force feedback mechanism. A six-dimensional force sensor was mounted on the tip of the slave robot's actuator. Sliding model control was adopted to control the slave robot. According to the movement of the master system manipulated by the surgeon, the slave's movement and the force feedback function were validated. The motion was completed, the standard deviation was calculated, and the force data were detected. Hence, force feedback was realized in the experiment. The surgical robot can help surgeons to complete trajectory motions with haptic sensation.

References

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Citations

Jan 17, 2019·The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS·Lukasz FracczakLeszek Podsedkowski
Jun 5, 2019·Gut and Liver·Hung Leng Kaan, Khek Yu Ho
Jan 29, 2019·Computer Assisted Surgery·Baoliang Zhao, Carl A Nelson

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