Bilateral control for haptic laparoscopic surgery robot

When using commercialized robot assisted laparoscopic such as Da Vinci, surgeon has met some problem to depend only on the information by visual feedback. To solve this problem, haptic function is required. In order to realize the haptic teleoperation system, force feedback and bilateral control system are needed. The previous researches showed that the perturbation value estimated by sliding perturbation observer(SPO) followed a reaction force loaded on the surgical robot instrument well. This paper addresses a bilateral control which is performed to realize haptic teleoperation based on this estimated force. The experiment results shows that a torque and force sensorless teleoperation system can be implemented using bilateral control structure.