A novel application of positioning method with force feedback for interventional surgery robot

The interventional surgery is a type of minimally invasive operation which can reduce hospitalization time and greatly decrease patient morbidity compared to traditional methods. In our previous study, a master-slave interventional operation system has been developed. The master side was a Phantom device and the PID control was used through upper machine. To further improve the precision and synchronization performance, two laser range finders were applied to measure the position of the master side in this paper. And positioning compensation on the basis of force feedback was added to the position close-loop. Compared to the previous result, the new method had advantages on precision and accuracy.