The preliminary results of a force feedback control for Sensorized Medical Robotics

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.