Force Feedback Augmentation Method fortheMinimally Invasive Surgical System

Inthispaper,a methodofforcefeedback augmentation toimprovetheforceperception isproposed. Reaction forceisamplified naturally according totheforceps action.In particular, the principal forcecomponents corresponding totheideal reaction force directions ofthecurrent forceps action willbeamplified. Theothercomponents are displayed without amplification. Asaresult, onlythesimple but significant reaction forcepatterns areemphasized. Complex behavior ofthereaction force, whichmaydistract ordeteriorate theintended action, isattenuated. Inaddition, thePIgain scheduling local forcefeedback controller compensates forthe inertial andgravitational force ofthemaster manipulator. Thus thetruereaction force attheforceps canbefelt morerealistic. IndexTerms- Minimally Invasive Surgical System, Master- SlaveTeleoperation, ForceFeedbackGainScheduling, Force Feedback Augmentation I.INTRODUCTION