Abstract
A laparoscopic surgery system by using a robot holds many problems. Among these, its inability in delivering touching sensation to a surgeon is raised as the biggest problem. The current paper attempted to find a force feedback controlling method at the time of performing movement by using one-degree of freedom (DOF) arm of slave and master system that is used in the programming based system. The study was two methods experience force feedback control; In the first place used force sensors and otherwise, conducted for the force feedback control by using a force sensor and for the case when the sensor could not be used due to the spatial and systematic limitation. The realization of force feedback system was successful, and the experiment results of force feedback control and current based force feedback control mode based on the force sensors of one-DOF system indicates that it could be directly applied to the another multi-DOF surgical robot system that is currently under the development.
Highlights
Nowadays, the robot has been used in various fields for the development of industrial technology
The surgical robot systems have been used on the surgery method for various diseases through the Minimally Invasive Surgery (MIS)
The current paper describes a force feedback controlling method by using a force sensor or motor current in a laparoscopic surgery robot system
Summary
The robot has been used in various fields for the development of industrial technology. All of sensations felt by hand are called as haptic, and the haptic interface related researches have been initiated from remote operation or from a devise for handicapped person, and developed into telesurgery, remote control, and application in space & aeronautic fields [2-3]. The method’s application scope is enlarged due to the advantages of shorter surgery time and shorter recuperation time of patients, but there is a three major disadvantage [4]; (a) As the surgeon does not have direct access to the operating field the tissue cannot be palpated any more. Several robot surgical systems including Zeus and daVinci systems have been developed, but no report has been made yet for a haptic Interface providing system that could be applied onto an actual surgery. The current paper conducted a study for a force feedback control method that can be applied onto the currently developing surgical robot systems. The study was two type experiences for force feedback control; In the first place used force sensor and otherwise, conducted for the realization of force feedback control by using force/torque sensors and for the case when the sensors could not be used due to the spatial and systematic limitation
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