Development of a remotely-operated master-slave manipulation system with a force-feedback function for use in endoscopic surgery

This study has attempted to develop a prototype of a master-slave manipulation system with a force-feedback function for use in remote endoscopic surgery. The slave manipulation system uses a forceps system which is capable of being opened and closed by a motor-and-wire-driven arrangement, and which is located at the head of a robot arm system. The master manipulator involves a mechanical link system which has the same structure and scale as the slave robot-arm system. The forceps system is the same as the one that is used in the slave manipulator; likewise, it is also located on the head of the link system (the reaction force Is generated by the same motor-and-wire-driven system). A trocar system which can generate a reaction force against the movement of the master forceps was also designed and developed. In this system, force feedback was conducted by a "force reflection method". The position of the slave forceps was controlled in such a way as to mimic the movement of the master. The force which is generated when the slave manipulator touches or grips some object is detected by an increase in the electric current of the motors which drive the slave forceps; this current value is then used as a feedback factor in order to generate the reaction force against the movement of the master manipulator. The slave manipulator was found to accurately and quickly mimic the movement of the master manipulator, with the reaction force generated at the master manipulator also reproducing well the force that was actually applied to the slave manipulator.