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A master-slave manipulation system with a force-feedback function for endoscopic surgery

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9 Author(s)
T. Hoshino ; Dept. of Mech. & Intelligent Eng., Himeji Inst. of Technol., Japan ; H. Ishigaki ; Y. Konishi ; K. Kondo
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A master-slave manipulation system with a force-feedback function was developed for endoscopic surgery. The slave manipulation system, which is located at the head of a robot arm system, uses a forceps system which is capable of being opened and closed by a DC motor-driven arrangement. The master manipulator involves a mechanical link system which has the same structure and scale as the slave robot-arm system. The value of this system was verified experimentally using a bench-test system with one degree of freedom which has the same force-feedback mechanism as the master-slave manipulation system. Although the system became oscillatory and unstable when the master manipulator was operated using a force feedback system (simple force reflection servo controller), it was possible to make the system stable improving the force feedback system by adding impedance term (improved force reflection servo controller).

Published in:

Engineering in Medicine and Biology Society, 2001. Proceedings of the 23rd Annual International Conference of the IEEE  (Volume:4 )

Date of Conference:

2001