Force model-based haptic master console design for teleoperated minimally invasive surgery application

摘要

Teleoperated robot assisted minimally invasive surgery has been attained greatly achievements in last two decades. Viewed from surgery scenario, the master console design is very important in the whole teleoperated robot assisted system because it connects the slave robotic system and the surgeon. It is common needs for the teleoperated system to provide the haptic sensation to the surgeon. In this paper, a catheter interaction force model was established, moreover a haptic master console was designed to do the catheter intervention surgery by utilizing the smart materials-Magnetorheological fluids (MRFs), which can provide the haptic sensation based on the interaction force model. Experiments illustrated that haptic sensation can be obtained by operating the designed haptic master console.