A master-slave manipulation system with a force-feedback function for endoscopic surgery

A master-slave manipulation system with a force-feedback function was developed for endoscopic surgery. The slave manipulation system, which is located at the head of a robot arm system, uses a forceps system which is capable of being opened and closed by a DC motor-driven arrangement. The master manipulator involves a mechanical link system which has the same structure and scale as the slave robot-arm system. The value of this system was verified experimentally using a bench-test system with one degree of freedom which has the same force-feedback mechanism as the master-slave manipulation system. Although the system became oscillatory and unstable when the master manipulator was operated using a force feedback system (simple force reflection servo controller), it was possible to make the system stable improving the force feedback system by adding impedance term (improved force reflection servo controller).