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The robotic surgery, which is the one of the major robotic technology, has some problems that a surgeon checks vision and sound information thought the surgical process. In order to solve this limited information, the haptic function is necessary. But it requires much more information through various sensors to haptic realization. However, because of the special environment inside human body, it is...
When using commercialized robot assisted laparoscopic such as Da Vinci, surgeon has met some problem to depend only on the information by visual feedback. To solve this problem, haptic function is required. In order to realize the haptic teleoperation system, force feedback and bilateral control system are needed. The previous researches showed that the perturbation value estimated by sliding perturbation...
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