HAPTICS FOR TELEOPERATED SURGICAL ROBOTIC SYSTEMS

摘要

An important obstacle in Minimally Invasive Surgery (MIS) is the significant degradation of haptic feedback (sensation of touch) to the surgeon about surgical instrument's interaction with tissue. This monograph is concerned wilh devices and methods required for incorporating haptic feedback in master-slave robotic MIS systems. In terms of devices, novel mechanisms are designed including a surgical end-effector (slave) with lull force sensing capabilities and a surgeon-robot interlace (master) with full force feedback capabilities.