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Scaling Method for Force Feedback of Forceps Manipulator Based on Beam Theory

S. Maeda, K. Oiwa, and C. Ishii
Hosei University, Tokyo, Japan
Abstract—In this study, a new scaling method for force feedback is proposed for the surgical robot developed in our laboratory, incorporating an analysis of the shaft of the forceps based on beam theory. A six-axis force and torque sensor is attached to the base parts of the forceps manipulator of the surgical robot to detect a force applied at the tip or shaft part of the forceps. Then, the detected force is amplified using the proposed scaling method and the amplified force is realized through the haptic device Omega 7. Experiments were conducted to verify the effectiveness of the proposed scaling method. The results showed that the operator of the surgical robot can experience a small force that was applied to the forceps more clearly and quickly compared with that realized when the conventional constant scaling method is used.

Index Terms—forceps manipulator, force feedback, haptic device, scaling method, beam theory, force and torque sensor

Cite: S. Maeda, K. Oiwa, and C. Ishii, "Scaling Method for Force Feedback of Forceps Manipulator Based on Beam Theory," International Journal of Pharma Medicine and Biological Sciences, Vol. 5, No. 1, pp. 23-30, January 2016. doi: 10.18178/ijpmbs.5.1.23-30
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