force feedback



 A Robotic Telesurgery System with Force Feedback






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Sina is a complete robotic telesurgery system with force feedback which can be used for performing remote surgery operations through internet or other communication channels. This system has two main subsystems including a master robotic console at surgeon’s side and a slave robotic system at patient’s side with two robots which are installed on the sides of a specific surgery bed.

A robotic cameraman called RoboLens is also integrated into the system to take the intra-abdominal images of the patient and send them to the surgeon’s master console. The master robots receive the surgeon’s hands movements and transmit them to the patient’s side slave robots that mimic the movements in a real-time manner. Simultaneously, the slave robots measure the robot and patient interaction forces/torques, including the pinch forces under instruments jaws, and transmit them to the surgeon’s side master robotic system.

As a result, all tool-tissue interaction forces/torques are feedback to the surgeon’s hands. The cameraman robot may be controlled through foot pedals from the surgeon’s side or smartly track the surgery instruments with no need to any human control command. Other operating room equipments such as electrocauter may be also remotely controlled from the surgeon’s side master consol.


Force feedback capability

More ergonomic posture for surgeon

Highly maintenance-free operation

Bed movements / pan-tilt rotations during operation

Surgeon’s hand tremor reduction and movements scaling

Acceptance of a wide range of conventional surgery instruments