Maxillofacial surgical robotic manipulator controlled by haptic device with force feedback

摘要

Operation in the area of Maxillofacial section is very difficult and risky due to its complicated and random anatomical structure. Therefore, to resolve these types of surgical issues, a multi-arm medical robot is designed. This paper presents a system able to perform complex maxillofacial surgeries using 6-DOF surgical manipulator and haptic device with force feedback capability. Force sensor is placed on manipulator end-effector and force feedback responses are felt on Haptic device. This proposed system improves surgical accuracy and removes surgeon's tension during tele-operation. The prototype of the whole system is designed and tests are conceded out under the surveillance of optical tracking system. The results demonstrate the system accuracy and reliability with force feedback competency.