POSITION-POSITION DIFFERENCE BASED HAPTIC FORCE FEED-BACK ROBOTIC CONTROL SYSTEM

S. A. ALI, A. M. SOOMRO, A. N. KHIZER, S. ZAIN-UL- ABYDIN, A. YASIN

Abstract


Autonomous surgical robotic system is required to draw up a complete and very detailed surgical procedure, which is not possible to implement in emergencies and complex surgical environments. The autonomous system is mostly based on instantaneous control signals which are acquired by vision, force sensors, navigation systems and etc. Therefore, it has some limitations in complex surgical procedures. However, modern research in robotic surgery has introduced haptic force feedback. Haptic force feedback is aimed to develop medical robots that would be capable to perform remotely with force feedback effects. 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 position-position difference (PPD) force feedback strategy with accuracy and stability by using 6-DOF haptic force feedback devices. The control strategy, haptic devices 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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