Abstract
Robotic surgery offers various advantages over conventional surgery that includes less bleeding, less trauma, and more precise tissue cutting. However, even surgeons who use the best commercially available surgical robotic systems complain about the absence of haptic feedback in such systems. In this paper, we present the findings of our project to overcome this shortcoming of surgical robotic systems, in which a haptic-enabled robotic system based on master and slave topology is designed and developed. To detect real-time intrusion at the slave end, haptic feedback is implemented along with a programmable system on chip, functioning as an embedded system for processing information. In order to obtain real-time haptic feedback, force and motion sensors are mounted on each joint of the master and slave units. At the master end, results are displayed through a graphical user interface, along with the physical feeling of intrusion at the slave part. Apart from the obvious applications of the current system in robotic surgery, it could also be used in designing more intuitive video games with further precise haptic feedback mechanisms. Moreover, the results presented in our work should pave the way for further scientific investigation, to provide even better haptic mechanisms.
Highlights
Robotic systems accompanied by haptic feedback mechanisms are receiving attention from many researchers
Haptic-enabled devices are being used in many real-world problems: for example, augmented reality, surgical robotics and intelligent manufacturing [1, 2]
Robotic surgery without haptic feedback leads to ambiguities in surgical operations [6, 7]
Summary
Robotic systems accompanied by haptic feedback mechanisms are receiving attention from many researchers. Robotic surgery without haptic feedback leads to ambiguities in surgical operations [6, 7]. Invasive robotic surgery has gained attention as a result of the integration of haptics with surgical procedures [8]. Such procedures involve the training of surgeons using virtual simulators, before performing actual the surgical operation on patients. A working prototype of a robotic manipulator equipped with a haptic feedback system was developed and ana‐ lysed. Tohreisciosmmpolriecactoemd pthliacnataedunthialantearal counntirlaotlesraylscteomntr[o2l0s]y. stem [20]
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