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In the teleoperated minimally invasive surgery systems, measurement and display of sense of force to the operator is a problem In this paper, we have developed a master-slave system having 7-DOFs for laparoscopic surgery, which can provide force feedback to the surgeon without using force sensors at the slave manipulator. Pneumatic actuators are used for the slave manipulation because they are effective for haptic devices due to the facility in measurement and control of their driving force. A control method to compensate the effect of the pipeline between the control valves and the actuators is proposed and applied. Then, an impedance control is applied to the slave manipulator and an admittance control is applied for the master manipulator. Finally, a bilateral control is achieved by combining the controllers. Experimental results show that the developed system successfully display the contact force on the slave side to the operator on the master side.

DEVELOPMENT OF ROBOT MANIPULATOR FOR LAPAROSCOPIC SURGERY WITH FORCE DISPLAY USING PNEUMATIC SERVO SYSTEM