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Virtual tool for bilaterally controlled forceps robot--for minimally invasive surgery
A M Harsha S Abeykoon1, Kouhei Ohnishi
1Department of Integrated Design Engineering, Keio University, Hiyoshi 3-14-1 Kohoku-ku, Yokohama 223-8522, Japan. harsha@sum.sd.keio.ac.jp
Summary
This study introduces a virtual tool model for bilateral control robotic surgery, enabling surgeons to feel realistic tactile sensations and reaction forces. This enhances remote surgery capabilities and reduces tool change time.
Area of Science:
- Robotics
- Surgical Technology
- Haptic Feedback
Background:
- Bilateral control allows remote operation, crucial for hazardous environments and surgeries.
- Surgeons require tactile feedback for precision, including tissue feel and tool reaction forces.
- Virtual tools can simulate expensive surgical instruments, improving cost-effectiveness and reducing procedure time.
Purpose of the Study:
- To implement and test a virtual tool model within a bilaterally controlled robotic system for surgical applications.
- To enhance tactile feedback for surgeons operating remotely.
- To investigate the use of virtual models to replace specialized tool properties.
Main Methods:
- A bilaterally controlled forceps robot was developed.
- Tactile feedback was achieved using bilateral control.
- A disturbance observer ensured robust control.
- A reaction force observer replaced traditional force sensors.
- A virtual model simulated tool properties.
Main Results:
- A virtual spring was implemented in the forceps, providing realistic tactile sensations to the operator.
- Operators perceived vivid environmental feedback through the master manipulator.
- The system successfully conveyed reaction forces from the surgical environment.
Conclusions:
- The virtual model effectively simulates tool properties and enhances tactile feedback.
- Despite minor response differences, the system is suitable for surgical applications.
- This novel approach has broad applicability in master-slave robotic systems.
