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Passivity based bilateral control with motion scaling for robotic forceps teleoperation system with time delay

Recently, robotic surgical support systems are in clinical use for minimally invasive surgery. For improvement in operability of the minimally invasive surgery, development of haptic forceps teleoperation systems is required to help surgeonpsilas immersion and dexterity. Besides, motion scaling function which can adequately reduce and enlarge a movement of the forceps against a surgeonpsilas operation and a tactile sense to the surgeon under time delay, is necessary for safety. We have developed a multi-DOF robotic forceps manipulator using a novel omni-directional bending mechanism, so far. In this paper, such a passivity based bilateral control that enables motion scaling in both position tracking and force tracking is proposed for the developed robotic forceps teleoperation system with constant time delay. Experimental works were carried out and results showed the effectiveness of the proposed control scheme.