Development of a Master Slave System with Force Sensing Using Pneumatic Servo System for Laparoscopic Surgery

In the teleoperated minimally invasive surgery systems, measurement and display of sense of force to the operator is a problem. In this paper, a manipulator for supporting forceps has been developed which has 3-DOFs actuated by pneumatic cylinders. We also developed a master manipulator using a delta mechanism and a gimbal mechanism with a force sensor and motors with reduction gears. In the developed master-slave system, we applied different impedance control to each manipulator. The force control type of impedance control is adopted without force sensor for the pneumatic slave manipulator. For the master manipulator the motion control type of impedance control is implemented. The experimental results indicated that the operator could feel the force at the slave side to a satisfactory extent.

[1]  M. Hashizume,et al.  Early experiences of endoscopic procedures in general surgery assisted by a computer-enhanced surgical system , 2002, Surgical Endoscopy And Other Interventional Techniques.

[2]  Blake Hannaford,et al.  A design framework for teleoperators with kinesthetic feedback , 1989, IEEE Trans. Robotics Autom..

[3]  Hirohiko Arai,et al.  Impedance Control of a Direct Drive Manipulator without Using Force Sensors , 1989 .

[4]  Panadda Marayong,et al.  The effect of visual and haptic feedback on computer-assisted needle insertion , 2004, Computer aided surgery : official journal of the International Society for Computer Aided Surgery.

[5]  Masaru Uchiyama,et al.  Design of a compact 6-DOF haptic interface , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[6]  Tsuneo Yoshikawa,et al.  Bilateral control of master-slave manipulators for ideal kinesthetic coupling , 1990, EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications.

[7]  Russell H. Taylor,et al.  Medical robotics in computer-integrated surgery , 2003, IEEE Trans. Robotics Autom..

[8]  John Kenneth Salisbury,et al.  The Black Falcon: a teleoperated surgical instrument for minimally invasive surgery , 1998, Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190).

[9]  G. Hubens,et al.  A performance study comparing manual and robotically assisted laparoscopic surgery using the da Vinci system , 2003, Surgical Endoscopy And Other Interventional Techniques.

[10]  Maria C. Yang,et al.  Haptic Force-Feedback Devices for the Office Computer: Performance and Musculoskeletal Loading Issues , 2001, Hum. Factors.

[11]  B. Davies.  A review of robotics in surgery , 2000, Proceedings of the Institution of Mechanical Engineers. Part H, Journal of engineering in medicine.

[12]  Kotaro Tadano,et al.  Development of 4-DOFs forceps with force sensing using pneumatic servo system , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[13]  Tsuneo Yoshikawa,et al.  Bilateral control of master-slave manipulators for ideal kinesthetic coupling-formulation and experiment , 1994, IEEE Trans. Robotics Autom..