Application research of telesurgical robot control system with force feedback device

In the process of a spinal surgery, it may lead to dangerous situation when the surgeon is tired or by mistake, while robots have merits of accuracy and tired less. So it is meaningful to develop an assisted robot for the surgeon. This paper presents a telesurgical robot control system to help the spinal screw placement surgery for many spinal procedures presently. The telesurgical robot control system including two parts: one is the surgeon console; another is the operating robot, forming master-slave topology. This kind of topology has the feature of making it easy to realize telesurgical operations and no radiation exposure to the operating surgeons. Another feature is that a Novint Falcon haptic device is employed to give force feedback to the operator, improving the ambience of the user. A prototype system is developed and experiments have been carried out, results show the system has high accuracy and good reliability, thus the telesurgical robot control system has much market prospects.