Cyber-Physical Systems Modelling of the Force Feedback Control for a Robotic Surgery Tool

Robotic minimally invasive surgery (RMIS) has brought numerous benefits for the patient and surgeon. For patients, this means smaller incision sites and faster recovery times. For surgeons, this means less fatiguing work hours while performing robotic-assisted surgery that can mediate tremors and amplify small movements. However, the main caveat of this mode of surgery is the surgeon’s lost sense of touch. Instead, surgeons must rely on their long hours of equipment training to manipulate tissue with only visual feedback. To this end, there is a trend of developing force feedback systems to be integrated into RMIS. Recent developments have explored various control system schemes for force feedback. This study presents a force feedback control system simulated on MATLAB Simulink using artificial signals. The slave manipulator was simulated to receive a force input to be applied to the environment. It was found that the measured force feedback was unstable beyond a 10N input using a constant input signal gain. Further, the system became unstable as signal intervals decreased to 0.5 seconds.