Development of a Force-Reflecting Laparoscopic Telemanupulator

Brock-Rogers Surgical (BRS) proposes to develop a telemanipulator system that will improve the dexterity of laparoscopic instrumentation and enable remote telepresence surgery. The micro-manipulator will provide users tactile sensing through coupling to a force-reflecting haptic interface. The system applies advanced techniques in robotics engineering and sensory feedback developed in the Artificial Intelligence Laboratory of the Massachusetts Institute of Technology. Telepresence surgery in the far-forward battlefield and other remote settings requires a compact, transportable dexterous telemanipulator providing precise tactile feedback to the operator. The BRS laparoscopic telemanipulator meets these requirements and will permit triage and stabilization of casualties while minimizing logistical support needed for deployment. Enhanced dexterity and tactile feedback will make endoscopic surgery in hospital settings faster, safer and open new procedures to minimal access intervention. The Phase I effort will design and prototype a telerobotic micro-manipulator and positioner with 7 degrees-of-freedom capable of laparoscopic intervention through a 5mm trocar port, actuated via computer controlled servo-motors. The end-effectors will contain microsensors providing force-feedback to the user. In Phase II, this design platform will be expanded by increasing sensor number, type and configuration and, integrating the device with software-driven control mechanics, providing algorithms for motion scaling and overcoming latency/lag problems.