Abstract
In this paper, a force feedback control system for robotic surgery is constructed by using the force reflection type bilateral control. The haptic device 'Omega.7' is used as a master device, and two kinds of robotic forceps are used as a slave device. The DSD forceps is employed as the slave device for bending motion, and the modified RoticulatorTM forceps is employed as the slave device for grasping motion of the jaw. The motion of the robotic forceps tracks a manipulation of the 'Omega.7', and force added to the robotic forceps is reproduced on the 'Omega.7' as the reaction force. Therefore, operator can feel the reaction force in teleoperation. Experimental works were executed to verify the tracking performance of both position and force for the constructed force feedback control system.
