Virtual Fixture Guidance for Robot Assisted Teleoperation

I the last several decades, minimally Invasive Surgery (MIS) has changed the traditional approaches surgery procedures dramatically. MIS could decrease suffered pain, shorten recovery time and hospital stays for the patient. Teleoperation can solve many problems encountered in conventional surgery, so it is often used in MIS surgery. Teleoperation system is a kind of semiautonomous system; the movements of a surgical robot are controlled by surgeon via a master manipulator. The entire system mainly includes five parts: master, slave, communication, operator and environment. The advantages of master-slave teleoperation mode are: under the control of human, robots can perform intricate and complex operations in an environment where difficult to reach (remote situation, difficult or harmful to a human perform the task). This paper presents a master-slave teleoperation control strategy of robotic-assisted for percutaneous renal puncture surgery. The master-slave system consists of a Phantom Omni device used as master manipulator, and a 6-DOF robot served as the slave manipulator. Masterslave mapping is to transform master-side Cartesian velocity of Phantom HIP (Haptic Interface Point) into the slave-side Cartesian velocity of robotic end-effector by a certain ratio. Using Resolved Rate approach (introducing Jacobin matrix) to compute the joint velocities from these Cartesian velocities at the endeffector. During teleoperation, by introducing virtual force and additional motion commands created by haptic virtual fixtures, the surgeons can accurately conduct puncturing procedures. Experiments results fully bear out the superiority of this system than the traditional approaches. The remainder of this paper will be distributed as follows: Section 2 introduces the control strategy. In Virtual Fixture Guidance for Robot Assisted Teleoperation Peng Chi, Dong-wen Zhang