A Master-Slave Telesurgery Simulator with Force-Feedback

  • Ping Liu
  • Yongming Xie
  • Tanchao Zhu
  • Jishuai Zhang
  • Jianying Li
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 126)


With the advent of surgical robots, telesurgery becomes an exciting new discipline that promises to broaden the practice of expert surgeons. Accordingly surgeons need to learn more sophisticated skills for telesurgery. We proposed a master-slave surgery simulator that can teach skills in controlling telesurgery robots. The simulator consists of master-slave haptic devices and a stereoscopic display. Telesurgery is simulated in a bilateral control scheme with Position–Force control strategy. The performance of the master-slave control in undertaking free space motion is presented and the simulation of burring in spine surgery is implemented. Experiments show the following error of the telesurgery simulator is quite small and the force change during burring simulation is acceptable.


master-slave scheme haptic interaction telesurgery simulator 


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Copyright information

© Springer-Verlag GmbH Berlin Heidelberg 2012

Authors and Affiliations

  • Ping Liu
    • 1
  • Yongming Xie
    • 1
    • 2
  • Tanchao Zhu
    • 1
  • Jishuai Zhang
    • 1
  • Jianying Li
    • 1
  1. 1.Shenzhen Institutes of Advanced TechnologyChinese Academy of SciencesShenzhenChina
  2. 2.Department of Computer Science and EngineeringThe Chinese University of Hong KongHong KongChina

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