Robust force feedback control of 5-DOF haptic device

In virtual endoscopic surgery, the haptic sensation is very important because the surgeon depend more on feedback force than image in real endoscopic surgery. This paper introduced a haptic device which is designed fully in consistent with the sense of space of real endoscopic surgery. To attenuate the unmodeled disturbance caused by the parameter perturbation of the haptic device and the operator, and improve the robustness of the force feedback control system. The form of low pass filter of disturbance observer (DOB) is chosen to suppress the parameter perturbation and measurement noise in virtual endoscopic surgery. The simulation experiment results verify the feasibility.