Development of a master –slave 3D printed robotic surgical finger with haptic feedback

AbstractRobotic surgery started nearly 30  years ago. It has achieved telepresence and the performance of repetitive, precise, and accurate tasks. The “master–slave” robotic system allows control of manipulators by surgeon at distant site. Robotic surgical fingers were developed to allow surgeons to move them with accuracy through se nsors fixed on surgeon’s hand. Also, haptic sensors were developed to allow transmission of sensation from robotic finger to surgeon’s finger. A complete system of a, 3D printed by a stereolithography (SLA) 3D printer, robotic surgical finger with haptic feedback system is proposed. The develope d system includes a master glove that controls the motion of a 3DOF robotic slave finger while getting haptic feedback of force/pressure exerted on it. The precise control of the slave robotic finger was achieved by applying a Proportional Integral and Derivative (PID), fast and robust, control algo rithm using an Arduino based hardware and software module. The individual joint angles, metacarpophalangeal joint (MCP) and proximal interphalangeal joint (PIP), and wrist were measured using rotatory and inertial sensors respectively. The degree of movement for MCP, PIP, and Wrist joints were measu red to be 0–86°, 0–71°, and 0–89° respectively. Motion to the robotic finger is mimicked by a glove motion requiring minimal learning curve for the device. The collected data for the slave motion is in good agreement with the master-glove motion...
Source: Journal of Robotic Surgery - Category: Surgery Source Type: research