A Single-DOF Haptic Feedback Controller for Robotic-assisted Minimally Invasive Surgery

摘要

In minimally invasive surgery (MIS), haptic or force feedback control is used when the visual feedback is insufficient or unavailable. Haptics, or haptic technology, which is essential in simulating touch, provides both the kinesthetic and the tactile feedback. The lack of haptics in robotic-assisted MIS hinders the progression of operation when visual feedback reaches its limit. This paper aims to develop a single degree-of-freedom (DOF) haptic handle controller, using a proportional-integral (PI) control, that can quantify up to 1-N of force.