Force Feedback Augmentation Method for the Minimally Invasive Surgical System

In this paper, a method of force feedback augmentation to improve the force perception is proposed. Reaction force is amplified naturally according to the forceps action. In particular, the principal force components corresponding to the ideal reaction force directions of the current forceps action will be amplified. The other components are displayed without amplification. As a result, only the simple but significant reaction force patterns are emphasized. Complex behavior of the reaction force, which may distract or deteriorate the intended action, is attenuated. In addition, the PI gain scheduling local force feedback controller compensates for the inertial and gravitational force of the master manipulator. Thus the true reaction force at the forceps can be felt more realistic