SIX DEGREE OF FREEDOM (6-DOF) FORCE SENSOR BASED HAPTIC FORCE FEEDBACK ROBOTIC SYSTEM

S. A. ALI, A. M. SOOMRO, A. N. KHIZER, Z. ABYDIN, B. BALOCH

Abstract


Self-directed and programmed robotic system is not compatible to perform any simple or complex surgical procedures. The autonomous system is mostly based on sudden control signals which are mostly based on vision, force sensors, navigation systems etc. Therefore, it has many borders in surgical procedures. However, modern research in robotic surgery has introduced on-line/real time haptic force feedback technology, which can perform complex surgical procedures with real time haptic force feedback sense. These medical robots are supposed to work exactly in the manner a surgeon does in daily routine. This paper is based on the master slave tele-robotic system, designed and implemented with 6-DOF force sensor. Force feedback strategy is designed and applied with accuracy and stability for surgical results. In this paper, control strategy, haptic devices and force sensor integration, application software designing by Visual C++ and experimental setup are discussed. Finally implemented system is verified on different animal tissues and material to validate the system stability, accuracy and repeatability.

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