Bilateral Control of Multi DOFs Forceps with Force Sensing Using Pneumatic Servo System

Abstract

Recently, development of instruments for minimally invasive surgery has been considerably required. In this research, we propose a master-slave system for laparoscopic surgery, which can provide the force feedback to the surgeon without force sensor. The prototype forceps manipulator has 3-DOFs at its tip, and pneumatic cylinders are used as actuator for them. We designed a bilateral dynamic control system using neural network for acquisition of the inverse dynamics. The obtained inverse dynamics is used for feed forward and estimation of the external force. Experimental results showed that the developed system successfully displays the contact force on the slave side to the operator.