Remote master-slave control of a 6D manipulator for cardiac surgery application

Intelligent robots have been using widely in medical field for the high precision, long working period, and lower costs. The integration of teleoperation system into surgical robots makes the remote surgery possible. This paper focuses on the force feedback and intelligent motion planning that enables master-slave control of heterogeneous manipulators. The slave arm works in a different scene from the master manipulator, which means that the arm assembled surgical instruments can´t repeat master manipulator motion mechanical. To address the heterogeneous problem, the collision free trajectory is generated based on both manipulators´ kinematic model and sample-based path planner. To improve the safety of surgical robots, virtual feedback-force is produced according to the distance between surgical instrument and the edge of surgical safe workspace.