An implementation of sensor-based force feedback in a compact laparoscopic surgery robot

Duk Hee Lee, Jaesoon Choi, Jun Woo Park, Du Jin Bach, Seung Jun Song, Yoon Ho Kim, Yungho Jo, Kyung Sun

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


Despite the rapid progress in the clinical application of laparoscopic surgery robots, many shortcomings have not yet been fully overcome, one of which is the lack of reliable haptic feedback. This study implemented a force-feedback structure in our compact laparoscopic surgery robot. The surgery robot is a master-slave configuration robot with 5 DOF (degree of freedom corresponding laparoscopic surgical motion. The force-feedback implementation was made in the robot with torque sensors and controllers installed in the pitch joint of the master and slave robots. A simple dynamic model of action-reaction force in the slave robot was used, through which the reflective force was estimated and fed back to the master robot. The results showed the system model could be identified with significant fidelity and the force feedback at the master robot was feasible. However, the qualitative human assessment of the fed-back force showed only limited level of object discrimination ability. Further developments are underway with this result as a framework.

Original languageEnglish
Pages (from-to)83-85
Number of pages3
JournalASAIO Journal
Issue number1
Publication statusPublished - 2009 Jan
Externally publishedYes

ASJC Scopus subject areas

  • Biophysics
  • Bioengineering
  • Biomaterials
  • Biomedical Engineering


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