A Disturbance in the Force: Force Actuation on the RAVEN II Surgical Robot with Parallel Motor-Cable Units

Abstract

Difficulty in haptic feedback for surgical robots has been a long-term problem for decades. In recent years, learning-based force estimation from robot states suggests desirable accuracy without the necessity of extra sensors. However, challenges remain in obtaining representative training data in which the robot moves in the workspace under various external forces. In this work, a parallel motor-cable system is developed. With six motor-cable units installed around the robot workspace, cables with controllable tension connected to the robot end-effector can provide the desired external force without interfering with the movement of the surgical robot. The development of the system includes motor-unit hardware, control software, sensor drivers, simulations, and more. Preliminary experiments suggest an accuracy of force actuation with errors less than 1 N.