Haptic Force Feedback During Robotic Surgery

Medical robotics technology is the integration of medicine, biomechanics, mechanics,computer vision, robotics, and many other disciplines as one of the new interdisciplinaryresearch field, has important significance and broad practical value. Master-slavesurgical procedures with force feedback from the operation of perception are one of thehotspots of medical robotics research. It is through the force sense, real-time perceptionand tactile feedback, allowing physicians to produce immersive feeling, so as to increasethe success rate of surgery, shorten the operation time to meet the doctor operating habits,improve surgical results and provide protection.This study was financially supported by National Foundation for Grant61375106,National High Technology Research and Development program of China (863Project)under Grant2012AA041606.Core contents of the research are as follows:First, by analyzing the characteristics and applications of robotic surgery at locally andabroad, specifies the importance of force feedback technology in the surgical roboticsystem and describes the current development process of force feedback technology.Secondly, the methods, design and implementation of the master/slave prototype surgicalsystem along with force feedback facility are introduced. The basic materials is alsomentioned to complete the proposed method thus to accomplish surgical procedure.Thirdly, the prototypes (master-slave) surgical system alone with control strategy is given. The application software is designed to control slave motion according to the masterdevice with accurate position, velocity monitoring and controlling. Thereafter,Position-Position Difference (PPD) based force feedback technique is implemented, withupdated control strategy and significance experimental results. Furthermore, the forcesensor (FS) placement with surgical tool to get direct force for haptic feedback on themaster haptic device is presented. Then, Hybrid position/force based haptic forcefeedback strategy is used to advance transparent haptic effect on master side. The resultsof hybrid position/force experiments validate the effectiveness of the proposed researchwork as a contribution towards the development of an advance haptic surgical roboticsystem. Finally, Needle driven surgeon-assisted robot with haptic force feedbacksystem is developed for deep zone cranium intervention. Overview of the completesystem with their mechanical design, control strategies, and software development withexperimental result are also discussed.