Realization of Virtual Slave Model of a Forceps Robot Using Bilateral Control

Bilateral control enables the operator to be placed away from the working environment. Slave manipulator usually works in a remote site or in a hazardous environment. Master operator is sensing the environment through the slave manipulator. Bilateral control can also be used in surgeries. Usually doctors are very sensitive to the tactile sensation they feel through medical tools. If bilateral control is used in surgery, ideally doctor should feel the feeling of the body tissue and the reaction force from the specialized tool. In this paper bilateral control is implemented for a forceps robot. Virtual spring acting on the end of the forceps is implemented to the bilateral control so that operator at the master side could feel the spring feeling together with the environment.