A Master-Slave Telesurgery Simulator with Force-Feedback
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.
Keywordsmaster-slave scheme haptic interaction telesurgery simulator
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