Interactive force-sensing feedback system for remote robotic laparoscopic surgery

摘要

This paper presents the details of a combined hardware/software system, which has been developed to provide haptic feedback for teleoperated laparoscopic surgical robots. Surgical instruments incorporating quantum tunnelling composite (QTC) force measuring sensors have been developed and mounted on a pair of Mitsubishi PA-10 industrial robots. Feedback forces are rendered on pseudo-surgical instruments based on a pair of PHANTOM Omni devices, which are also used to remotely manipulate the robotic arms. Measurements of the behaviour of the QTC sensors during a simulated teleoperated procedure are given. In addition, a method is proposed that can compensate for their non-linear characteristics in order to provide a 'realistic feel' to the surgeon through the haptic feedback channel. The paper concludes by explaining how the force feedback channel is combined with a visual feedback channel to enable a surgeon to perform a two-handed surgical procedure better on a remote patient by more accurately controlling a pair of robot arms via a computer network.