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Flexible tendon sheath mechanism is commonly used in NOTES systems because itoffers high flexibility, light weight, and easy transmission. Due to the sizeconstraints and sterilization problems, traditional sensors like force/torquesensor are extremely difficult to place at the tool tips of surgical arms. Inaddition, nonlinear dynamic friction and backlash cause challenges to providehaptic feedback to the surgeons when the robotic arms are inside the patient'sbody. Hence, it is extremely difficult to provide the force information tohaptic devices and subsequently to the surgeons. To deal with these problems,in this paper we propose a new approach of friction model in the tendon-sheathmechanism to provide the force at distal end of endoscopic system. Incomparison with current approaches in the literature, the proposed model isable to provide force information at zero velocity and it is smooth. Inaddition, the model is independent configuration and able to capture frictionforce with any complex sheath shapes. A suitable experimental setup isestablished to validate the proposed approach using the two degrees of freedomMaster-Slave system. The validity of the proposed approach is confirmed with agood agreement between the estimated model and real experimental data. Finally,a force feedback structure is also given for use in flexible endoscopicsystems.

Haptic Feedback in Natural Orifice Transluminal Endoscopic Surgery (NOTES)