Robotic Interface Controller for Minimally Invasive Surgery

This study aims to assemble a touch screen controlled surgical robotic arm, with the ability to overcome the lack of haptic feedback encountered during minimally invasive surgery (MIS). The objective is to advance feasibility of solutions for millimeter scale movement in critical surgery areas. We achieved a prototype integrating servo-motors, resistive screen, microcontroller and end-effector measurement sensor. We implemented calibration, command and feed-back processes using Arduino codes. We were able to deliver minimal motion of surgical alike tool in different directions. According to requirements, the detected output values allowed distinction between hard and soft materials that simulate various human tissues. However, the developed exploration will facilitate the completion of haptic feed-back system after implementing communication between sensors on both side of operation.