Abstract:
The use of robots in, the field of surgery has enabled the surgeons to perform the complex
surgical operations in a more sophisticated and highly precise manner and has played a
significant role in enhancing the accuracy of surgical procedures and overcoming the limitations of using human hand in those complex operations. In our project, we have attempted to develop a prototype that provides an alternative to the conventional laparoscopic and open surgical procedures. Currently, the main commercially
available robotic surgical system is da Vinci that does not provides haptic feedback to the
operator. The primary objective, of this project was to design a system that could modify the daVinci family to a system that could provide force feedback and to provide the operator with the facility to observe and monitor end-effecter interaction forces. Moreover, the theme of this research was to develop a system, to serve as test model for evaluating and implementing telesurgical system with haptic feedback.
In our system, a 5 D.O.F RC Servo robot arm is used for precise incision purposes in the surgery and a FSR (force sensing resistor) is integrated into the system to enable the haptic feedback during incision procedure. The motion of the robot arm is being controlled by a highly sophisticated Joystick that ensures the precise motion control of the system. The main controller of our project is, Arduino that controls and interconnects the whole system. Our system also, provides a video feedback to the surgeon to further assist him to reach the optimal precision and efficiency in the surgical procedures.
