Surgical robot teleoperated laparoscopic grasper with haptics feedback system

Abstract

The introduction of robot-assisted surgery in the operating room has led to significant improvements in surgeries. However, the lack of haptics feedback in these robotic systems using long teleoperated instruments has negatively affected the surgeon's ability to palpate tissue and diagnose it is healthy or unhealthy. This paper describes the design of a modular, automated laparoscopic grasper with 3D force feedback capability along with Robotic arm. The normal grasping forces, as well as, side ways manipulation forces during grasping and palpation tasks can be measured. Additionally, a modular design allows for easy conversion between surgical modalities. Calibration of the force sensors and initial testing of the prototype has shown its ability to accurately measure tool-tissue interaction forces. A complete Robotic system with tactile feedback consisting of a strain gauge force sensor mounted on Robotic end effector & servo motor based wireless control system has been proposed. A control jig at the master side in a bilateral master slave control setup to simplify the MMI has been proposed and a rotary potentiometer at the master side as a position sensor has been used. The prototype consists of 5 axes Robotics system, 3 for Laprascopic grasper and 2 for Robotic Arm has been designed.