Abstract
A surgeon using a da Vinci surgical robot cannot feel the touch of the tissue on the tip of the surgical instrument because the robot only depends on the visual feedback information. This problem can result in medical accidents, such as ruptured organs. To solve this problem, this paper suggests a method for recognizing organ rupture and an organ protection method using the sensorless force feedback for feeling a reaction force on the instrument tip. In previous research, a cable-conduit master device was developed to use a haptic system. This paper improved a master device for handling the slave. The rupture phenomenon was analyzed by experiments. The thresholds with respect to the organ to protect were settled. The bilateral control-based experimental results showed that the organ is protected.
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