Design of Master-slave Teleoperation Puncture System Based on Force Feedback

摘要

In the field of minimally invasive surgery, medical robotics has always been a hot research topic. In this paper, targeted puncture surgery is taken as the research object and a complete master-slave remote operation puncture system is constructed for the lack of force feedback information of the operator during the operation. The master-slave mapping and control system of the modification system were designed, and then a complete puncture force model was established in the puncture process. Finally, the effectiveness of the system was proved by master-slave following experiment and simulated puncture experiment, and the operator could perceive the precise feedback puncture force.