Development of 16-DOF telesurgical forceps master/slave robot with haptics

Minimally invasive surgery (MIS) has attracted attention recently. MIS such as endoscopic surgery considers a patient's quality of life. In endoscopic surgeries, bilateral control systems are strongly required to apply. It is necessary to develop the multi Degrees Of Freedom (DOF) robot to achieve various operation procedures including endoscopic surgery. In this paper, 16-DOF haptic telesurgery master/slave robot is developed. This master/slave robot has two arms, and each arm has 8-DOF. The bilateral control using 4ch controller is implemented in the master/slave robot. Experiments of peeling motion and suturing motion are performed by a surgeon to evaluate the development robot.