Mehran University Research Journal Of Engineering &
Technology (HEC Recognized In Category "X")
Publishing Since 1982.



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Design, Implementation and Testing of Master Slave Robotic Surgical System

Keywords: Tele-Robotic Surgery, Kinematics Analysis, Haptic Force Feedback Devices

Mehran University Research Journal of Engineering & Technology

Volume 34 ,  Issue 1

SYED AMJAD  ALI,AMIR MAHMOOD SOOMRO  ,ARBAB NIGHAT KHIZER  

Abstract

The autonomous manipulation of the medical robotics is needed to draw up a complete surgical plan in development. The autonomy of the robot comes from the fact that once the plan is drawn up off-line, it is the servo loops, and only these, that control the actions of the robot online, based on instantaneous control signals and measurements provided by the vision or force sensors. Using only these autonomous techniques in medical and surgical robotics remain relatively limited for two main reasons: Predicting complexity of the gestures, and human Safety. Therefore, Modern research in haptic force feedback in medical robotics is aimed to develop medical robots capable of performing remotely, what a surgeon does by himself. These medical robots are supposed to work exactly in the manner that a surgeon does in daily routine. In this paper the master slave tele-robotic system is designed and implemented with accuracy and stability by using 6DOF (Six Degree of Freedom) haptic force feedback devices. The master slave control strategy, haptic devices integration, application software designing using Visual C++ and experimental setup are considered. Finally, results are presented the stability, accuracy and repeatability of the system