Eventos Anais de eventos
DINAME 2017
XVII International Symposium on Dynamic Problems of Mechanics
HAPTIC FEEDBACK CONTROL FOR ROBOTIC SURGICAL FORCEPS
Submission Author:
RYOICHI SUZUKI , Ishikawa , Japan
Co-Authors:
Takayuki Sawada, RYOICHI SUZUKI
Presenter: RYOICHI SUZUKI
doi://10.26678/ABCM.DINAME2017.DIN17-0165
Abstract
A control method for robotic surgical forceps with force sensation has been addressed in this paper. A prototype of a master-slave robotic system has been developed to evaluate the proposed control method. The mechanical structures of the master robot and the slave robot are different. Force sensors and pressure sensors are not mounted on the slave side. These points are novel compared to another research in haptic feedback control. The internal model control has been applied to control the robotic surgical forceps in order to feedback force sensation on the slave side. The robotic surgical forceps has been evaluated by several experiments. The experimental results show that the proposed control method is able to estimate different contact force of the forceps tip on the slave side without force sensors, and the proposed system is also able to feedback force sensation to the operator.
Keywords
Internal model control, force detection, haptic feedback control, robotic surgical forceps
