Haptic Feedback System for Robot-Assisted Surgery

摘要

Minimally invasive surgical procedures using long instruments have profoundly influenced modern surgery by decreasing invasiveness, therefore minimizing patient recovery time and cost. However, surgical procedures using long tools inserted through small ports on the body deprive surgeons of the sense of touch (haptics), depth perception, dexterity, and straightforward hand eye coordination that they are accustomed to in open procedures. While there have been significant advances in almost all of the above areas, haptic feedback systems for robot-assisted surgery are lacking in development. In this paper we present: 1) the development of accurate robot-arm dynamic model (using model-based control) with the goal of minimizing unwanted tool-tissue interaction forces in robotassisted surgery, 2) the development of an ergonomic 7-DOF haptic feedback system, and 3) the recently developed laparoscopic grasper with force feedback capability attached to the end of the robot arm and controlled by the haptic device.