STUDENT'S DECLARATION

I, Alekh Manohar Sharma, hereby certify that the work which is being presented in this thesis
titled "Measurement and Implementation of Force Feedback-HAPTICS" by me in partial
fullfillment of the requirement for the the award of Master in Engineering in Electrical
Engineering (Instrumentation and control) from Punjab University, Chandigarh is an authentic
record of my original work carried out under the supervision of Dr. Sanjeev Kumar, Scientist,
Biomedical Instrumentation Unit, CSIR-Central Scientific Instruments Organisation (CSIR-
CSIO), Chandigarh. the matter presented in this thesis has not been submitted earlier in any other
University/Institute for the award of any degree.

(ALEKH MANOHAR SHARMA)

CERTIFICATE

This is certified that the above statement made by the student is correct to the best of our
knowledge and belief:

Dr. Sanjeev Kumar Dr. (Mrs.) Lini Mathews

Supervisor Supervisor,
Scientist, Professor and Head
Biomedical Instrumentation Unit Electrical Engineering Department
CSIR-CSIO, Chandigarh N.I.T.T.T.R, Chandigarh

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 ACKNOWLEDGEMENTS
I would like to express my sincere gratitude to Dr. Amod Kumar, Director, CSIR-Central
Scientific Instruments Organisation (CSIR-CSIO), Chandigarh and Dr. M. P. Poonia,
Director, National Institute of Technical Teachers Training and Research, Chandigarh for
providing the opportunity to carry out this present thesis work.

I am deeply indebted to Dr. Sanjeev Kumar, Scientist, CSIR-Central Scientific Instruments

Organisation (CSIR-CSIO), Chandigarh my mentor and supervisor for his valuable guidance,
constant encouragement and constructive criticism during the tenure of this thesis work. He had
been my friend and source of inspiration during the whole tenure. When I got puzzeled and
confused, the moment I talk to him, I found all of my load torque balanced and driving me to a
steady state progress. He left no stones unturned to solve even my timid problems. Without his
support, it would have been impossible to complete this work.

I would like to express my sincere humble and deep gratitude to Dr.(Mrs.) Lini Mathews,
Professor and Head, Department of Electrical Engineering, N.I.T.T.T.R, Chandigarh for her
valuable guidance and suggestions in bringing this manuscript in the present shape. She had been
my mentor, philosopher and source of inspiration during the whole tenure. Her constant
encouragement, suggestions and guidance which helped in completing the project work.

I would like to thanks Mrs. Shimi S. L. and Mrs. Ritula Thakur Assistant Professor,
Department of Electrical Engineering, N.I.T.T.T.R, Chandigarh for her suggestions,
encouragement, guidance and support. I thank them profusely.
I would like to express my heartfelt thanks to my lab members and friends Gopal, Rishab,
Ankit, Himanshu, Pankaj, Simrat, Saransh , Lalit and my bother Naman Sharma for their
encouragement and support.
Finally, I wish to express my sincere gratitude to my parents Mrs. Durgesh Sharma and Mr.
Murli Manohar Sharma and to almighty GOD for their blessings, otherwise it would have
been difficult to complete this work.

(ALEKH MANOHAR SHARMA)

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 CONTENTS
CHAPTER TITLE PAGE NO.
STUDENT'S DECLARATION i
CERTIFICATE i
ACKNOWLEDGEMENTS ii
TABLE OF CONTENTS iii-iv
LIST OF FIGURES v
LIST OF TABLES vi
ABSTRACT vii
1. ROBOTIC SURGERY AN OVERVIEW 1-11
1.1 Introduction 1
1.2 Minimally Invasive Surgery 2
1.3 Robot-Assisted Surgery 3
1.3.1 Robotic Systems For Surgery 4
1.4 Haptics 6
1.5 Haptic Feedback 6
1.5.1 Types Of Haptic Devices 7
1.5.2 Haptic Devices And System 8
1.5.3 Application of Haptic Technology 8
1.6 Advantages and Disadvantages of MIS, MIRS 9

2. LITERATURE REVIEW 12-22

2.1 Introduction 12
2.2 Literature Survey 13
2.3 Inferences Drawn out of the Literature Review 21
2.4 Scope of the Work 22
3. REAL TIME IMPLEMENTATION OF FORCE 23-38
FEEDBACK
3.1 Platform 23
3.2 Mechanical Design of Module 25
3.3 Dc Motor 28
3.4 Magnetic Encoder 30
3.5 Arduino Microcontroller 32
3.5.1 Technical Specifications 33
3.6 Arduino Motor Shield 33
3.7 Algorithm 35
3.8 Flow Chart 37
3.9 Complete Assembly of Circuit 38
4. RESULTS AND DISCUSSIONS 39-44
4.1 Introduction 39
4.2 Haptic Feedback Device 40
CONCLUSION 46

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 FUTURE SCOPE 47
REFERENCES AND BIBLIOGRAPHY 48-52
AUTHOR'S PUBLICATIONS
APPENDIX A

LIST OF FIGURES

Figure Description Page

No. No.
1.1 Setup of Laparoscopic Minimally Invasive Surgery 3
1.2 The da Vinci Surgical System. (a) The Master Console with 3D 5
Visualization System (b) 2D Display of the Operative Field for Surgical
Staff (c) The Patient Side Manipulators.
1.3 PHANToM Haptic Interface-A Commercially Available Haptic Device 9
3.1 Circuit Diagram of the Prototype Hardware 24
3.2 Block Diagram of 1-DoF Device for Force Feedback 25
3.3 Main Frame for Motor Positioning and Capstan Drive 26
3.4 Small Pulley Mounted on Motor Shaft 27
3.5 Big Pulley for RPM Reduction 27
3.6 Complete Module of 1 DoF Device 28

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 3.7 MAXON RE 30 Motor 30
3.8 Comparison between the Encoder Channel Generated Pulses 31
3.9 Pin Allocation of Encoder Connector 31
3.10 Arduino UNO Microcontroller 32
3.11 Arduino Motor Shield 34
3.12 Flow Chart of Haptic Device 37
3.13 Complete Assembly of Haptic Device for Implementation and 38
Measurement of Force Feedback
4.1 Weights used for Force Measurement 40
4.2 Different Weights and Corresponding Current Drawn (a) 9.8 gms 43
(b) 11.98 gms (c) 19.07 gms (d) 20.30 gms (e) 25.37 gms
4.3 Master and Slave Currents Readings in Arduino Serial Monitor 44
4.4 Graph Between Weights and Current Values 45

LIST OF TABLES

Table Page
No. Description No.
1.1 Advantages and Disadvantages of Conventional Laparoscopic Surgery v/s 10
Robot Assisted Surgery
1.2 Advantages and Disadvantages of Robot Assisted Surgery and Conventional 11
Surgery
3.1 Different Motors and Its Specifications 29
3.2 Shield Pins Functions 34
4.1 Values of Master and Slave Side Currents Corresponding to the Weights 44
applied on the Slave Side.

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 ABSTRACT

Minimally Invasive Surgery is a modern surgical technique in which the operating tools are
inserted into the patient through small incisions. Robotic applications in general surgery have
evolved from simple surgical assist devices, to more sophisticated systems capable of enhancing
surgical performance. The primary class of robots used in general surgery today, are 'master-
slave' machines, where the robot mimics the movement of the surgeon. A major drawback with
the master-slave robotic systems is the motion co-ordination between the two. The work discuss
about the techniques of motion transfer from master to slave and to implement force feedback
from slave to master. Motion is transferred from master handle to the robotic arm on slave side
depending upon the encoder pulses from master encoder. The pulses from the encoder are
processed and fed to the slave, which mimics the hand motion of master configuration. The
position of the slave is also fed to the master configuration using the encoder pulses generated
by the slave encoder , for proper position control. The two channel encoder with dc motor is
used in master slave configuration. The proposed configuration with force feedback capability
uses the current sensing technique for measuring the for acting on the slave side and implement
the same on the master side. The technique has a wide application, with accuracy, efficiency,

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safety and over all user experience that provide superior performance and reliability in master-
slave robot assisted interventions.

Keywords: Biomedical instrumentation, force feedback, Haptics, master-slave robot, robotic

surgery.