Design and development of sensorless based 5-DOF bilaterally controlled surgical manipulator: A prototype

Minimally invasive surgery (MIS) is one of the most challenging tasks in surgical procedures due to lack visibility area, instrument orientation, and depth perception. A tele-operated robot assisted minimally developed enhance a surgeon's hand dexterity accuracy. To perform MIS, surgeon controls slave manipulator via master manipulator, so force feedback motion are required imitate an amount action reaction between manipulator. The complicated MIS requires more complex with multi DOFs multiple feedback. limitation bandwidth torque sensors. Therefore, this study proposes sensorless based 5-DOF Bilaterally controlled manipulation. In research disturbance observer (DOB) used identify internal system, which estimate torque. This mainly focuses on bilaterally maintain position additional force. result error contact less than 2%, non-contact not over 5%, it evident that always 0.3% for response.