DEVELOPMENT of PROTOTYPE LAPAROSCOPIC GRASPER with HAPTIC FEEDBACK

The introduction of robot-assisted surgery into the operating room has revolutionized the medical field. These systems not only have the advantages of traditional minimally invasive surgery (MIS), such as reduced patient trauma and recovery time, lower morbidity, and lower health care costs, but they also eliminate surgeon tremor, reduce the effects of surgeon fatigue, and incorporate the ability to perform remote surgical procedures. However, current robotic surgical systems, such as the Da VinciTM Surgical System, lack the capability of providing force feedback to the surgeon that is present in conventional surgery. Therefore, this lack of force feedback presents excellent developmental opportunities for surgeons and engineers to create novel surgical tools and methods to incorporate force feedback capabilities into these robotic surgical systems. The goal of this research is to restore force feedback capability to the surgeon in robot-assisted surgery through a haptic interaction experience involving force feedback from the surgical site using our novel teleoperation platform. This project will summarize our research including: 1)The Laparoscopic tool will be mounted over robotic arm.2)The Laparoscopic grasper can be integrated with force feedback system and tactile system.3)Incorporation of master slave technique in prototype model.4)The sensors will be used to transmit force data to slave controller and then transmitted wirelessly to master controller which then controlled by servo motor(force feedback device.5)Opening and closing process of Laparoscopic grasper is controlled by servo motor. Keywords— Haptic feedback, Laparoscopic grasper, force feedback, teleoperation