A Modified Fully Haptics-Enabled Master-Slave Teleoperated Setup for Minimally Invasive Surgery

This project is aimed at providing the sense of touch (haptics) in Robotics-Assisted
Minimally Invasive Surgery (RAMIS). In our previous work, we developed a 7-DOF
haptics-enabled master-slave teleoperation setup at CSTAR (Canadian Surgical
Technologies and Advanced Robotics) for RAMIS. This setup is a research platform for
two important applications: endoscopic suturing and tumor localization in soft-tissue
palpation. However, the developed system has some restrictions in the master console
preventing us from take full advantage of the setup such as limited orientational
workspace for suturing applications and the lack of direct reflection of palpation force
for soft-tissue palpation. To improve the performance of our master-slave teleoperated
setup, this project focuses on replacing the current haptic interfaces with those
capable of satisfying these requirements. The haptic interface chosen for this project
is W5D from Entact robotics Inc. This device will be equipped with a scissor action
pincer and a finger pad force display device to provide fully intuitive haptics-enabled
master console for our robotics platform.

Faculty Supervisor:

Rajni Patel

Student:

Partner:

Entact Robotics Inc

Discipline:

Engineering

Sector:

Manufacturing

University:

Western University

Program: