title: An implementation of sensor-based force feedback in a compact laparoscopic surgery robot.
abstract: Despite the rapid progress in the clinical application of laparoscopic surgery robots, many shortcomings have not yet been fully overcome, one of which is the lack of reliable haptic feedback. This study implemented a force-feedback structure in our compact laparoscopic surgery robot. The surgery robot is a master-slave configuration robot with 5 DOF (degree of freedom corresponding laparoscopic surgical motion. The force-feedback implementation was made in the robot with torque sensors and controllers installed in the pitch joint of the master and slave robots. A simple dynamic model of action-reaction force in the slave robot was used, through which the reflective force was estimated and fed back to the master robot. The results showed the system model could be identified with significant fidelity and the force feedback at the master robot was feasible. However, the qualitative human assessment of the fed-back force showed only limited level of object discrimination ability. Further developments are underway with this result as a framework.
authors.affiliation: Biomedical Engineering Branch, Research Institute, National Cancer Center, Gyeonggi, Korea.
authors.forename: Duk-Hee
authors.initials: DH
authors.lastname: Lee
authors.forename: Jaesoon
authors.initials: J
authors.lastname: Choi
authors.forename: Jun-Woo
authors.initials: JW
authors.lastname: Park
authors.forename: Du-Jin
authors.initials: DJ
authors.lastname: Bach
authors.forename: Seung-Jun
authors.initials: SJ
authors.lastname: Song
authors.forename: Yoon-Ho
authors.initials: YH
authors.lastname: Kim
authors.forename: Yungho
authors.initials: Y
authors.lastname: Jo
authors.forename: Kyung
authors.initials: K
authors.lastname: Sun
mesh_terms: D004867:Equipment Design / Q000295:instrumentation*; D020706:Laparoscopes; D010535:Laparoscopy; D012371:Robotics / Q000295:instrumentation*; D025321:Surgery, Computer-Assisted / Q000295:instrumentation