EXPERIMENTAL AND SIMULATION STUDIES ON MEDICAL ROBOTS

Abstract

NOTES (natural orifice transluminal endoscopic surgery), is presently under the main focus in medical surgery. In this the surgical treatment of patient is being done by making different surgical tool available to the location of surgery through the natural orifices of the human body. In-vivo medical robot is the miniature robot which is very useful for stomach biopsy, internal cavity inspection and in NOTES. By making in-vivo robot surgical tool teleported using Phantom Omni as master and in-vivo robotic surgical tool as slave and haptically enable using force sensor will help us to get the tactile and force feedback. In this thesis firstly the study of relation between tip position and joint angles of Phantom Omni is being done then a virtual environment is being created to get the tactile and force feedback that will help to get the joint angles for the in-vivo robot for teleoperation in real system and force feedback that we get in experiment will help in training surgeon in virtual surgery environment. The variation in the forces that is applied to stomach virtual model and the forces we feel in haptic stylus is shown by plots.