Minimally invasive surgery mechanism for force feedback and haptic control

Robotic surgery, especially the use of robots in Minimally Invasive Surgery (MIS) has received great attention in recent years. The provision of haptic feedback for robotic assisted MIS (RAMIS) would reap many benefits in the medical field. The aim of this study is to develop and construct a robot arm and control system satisfying the requirements for MIS. The study is furthered by the incorporation of haptic feedback into the current system, with the hope of testing the effectiveness of the enhanced system. This paper presents the developed robotic system: the mechanism, its governing kinematics and dynamic equations, and the developed control software. The paper ends by discussing the introduction of haptics into the current system, which entails the software implementation and hardware integration of a Phantom haptic controller and a force and torque (F/T) sensor