Force Feedback Control of Robotic Forceps for Minimally Invasive Surgery

Abstract

Recently, the robotic surgical support systems are in clinical use for minimally invasive surgery. For improvement in operativity and safety of minimally invasive surgery, the development of haptic forceps manipulator is in demand to help surgeon's immersion and dexterity. We have developed a multi‐DOF robotic forceps manipulator using a novel omni‐directional bending mechanism, so far. In this paper, in order to control the developed robotic forceps as a slave manipulator, joy‐stick type master manipulator with force feedback mechanism for remote control is designed and built, and force feedback bilateral control system was constructed for grasping and bending motions of the robotic forceps. Experimental works were carried out and experimental results showed the effectiveness of the proposed control system.