A Robotic System with Force Feedback for Micro-Surgery

A robotic system with force feedback for micro-surgery is developed (named “Microhand”). The system designed is based on a master-slave operation mode. The slave manipulators are designed by using macro-micro frames. The PHANToM Desktop developed by the SensaAble Technology Company is used as the master device. The interactive force/torque information of the slave manipulators and the surgical environments measured by the six-dimension force/torque sensors are fed back to the master device, so that the system is capable of providing force feedback to the surgeon during operations. The validity of the system has been proved through animal experiments of vas suturing a rabbit’s 3mm in diameter neck artery and its 1mm in diameter leg artery.