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Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

Published on: November 14, 2015

An implementation of sensor-based force feedback in a compact laparoscopic surgery robot.

Duk-Hee Lee¹, Jaesoon Choi, Jun-Woo Park

¹Biomedical Engineering Branch, Research Institute, National Cancer Center, Gyeonggi, Korea.

ASAIO Journal (American Society for Artificial Internal Organs : 1992)

|December 19, 2008

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This study integrated force feedback into a laparoscopic surgery robot, enabling force estimation and feedback to the surgeon. While feasible, the system currently offers limited object discrimination ability.

Area of Science:

Robotics
Minimally Invasive Surgery
Surgical Technology

Background:

Laparoscopic surgery robots lack reliable haptic feedback, a critical limitation.
Advancements in robotic surgery highlight the need for improved tactile sensation.

Purpose of the Study:

To implement a force-feedback system in a compact laparoscopic surgery robot.
To enhance surgeon's tactile perception during robotic procedures.

Main Methods:

A master-slave robot configuration with 5 degrees of freedom was utilized.
Torque sensors and controllers were integrated into the pitch joints of both master and slave robots.
A dynamic model estimated action-reaction forces for feedback to the master robot.

Main Results:

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The implemented system model demonstrated significant fidelity in identifying forces.
Force feedback to the master robot was shown to be feasible.
Human assessment indicated limited ability in discriminating objects based on the fed-back force.

Conclusions:

The developed force-feedback system provides a feasible framework for enhancing tactile sensation in laparoscopic surgery robots.
Further research is needed to improve the object discrimination capabilities of the haptic feedback system.