Haptic Control for Minimally Invasive Robotic Surgery

摘要

Minimally invasive robotic surgery has been investigated in various surgical application due to high accuracy, fine manipulation capability, tele-operation. Haptic feedback plays a significant role in MIS. In this paper, a dynamics model of a haptic robot is established, and PID algorithm is proposed. To prove the proposed method, an experimental system has been developed. Simulations and experiments show proposed methods is an effective method to master-slave MIRS.