title: [Haptic tracking control for minimally invasive robotic surgery].
abstract: Haptic feedback plays a significant role in minimally invasive robotic surgery (MIRS). A major deficiency of the current MIRS is the lack of haptic perception for the surgeon, including the commercially available robot da Vinci surgical system. In this paper, a dynamics model of a haptic robot is established based on Newton-Euler method. Because it took some period of time in exact dynamics solution, we used a digital PID arithmetic dependent on robot dynamics to ensure real-time bilateral control, and it could improve tracking precision and real-time control efficiency. To prove the proposed method, an experimental system in which two Novint Falcon haptic devices acting as master-slave system has been developed. Simulations and experiments showed proposed methods could give instrument force feedbacks to operator, and bilateral control strategy is an effective method to master-slave MIRS. The proposed methods could be used to tele-robotic system.
authors: School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China. xuzhdoc@yahoo.com.cn
authors: Zhaohong
authors: Z
authors: Xu
authors: Chengli
authors: C
authors: Song
authors: Wenwu
authors: W
authors: Wu
mesh_terms: D005246:Feedback; D006801:Humans; D019060:Minimally Invasive Surgical Procedures / Q000295:instrumentation*; D012371:Robotics / Q000295:instrumentation*; D025321:Surgery, Computer-Assisted / Q000295:instrumentation*; D055698:Touch Perception