This paper proposes a low-cost robotic surgery system composed of a general purpose robotic arm, an interface for daVinci surgical robot tools and a modular haptic controller utilizing smart actuators. The 7 degree of freedom (DOF) haptic controller is suspended in the air using the gravity compensation, and the 3D position and orientation of the controller endpoint is calculated from the joint readings and the forward kinematics of the haptic controller. Then the joint angles for a general purpose robotic arm is calculated using the analytic inverse kinematics so that that the tooltip reaches the target position through a small incision. Finally, the surgical tool wrist joints angles are calculated to make the tooltip correctly face the desired orientation. The suggested system is implemented and validated using the physical UR5e robotic arm.

Abstract
1. 서 론
2. 모듈러 햅틱 컨트롤러
    2.1 모듈러 햅틱 컨트롤러의 구성
    2.2 모듈러 햅틱 컨트롤러의 제어
    2.3 컨트롤러의 정밀도 및 조작성
3. 수술 도구 컨트롤러
    3.1 수술 도구 어댑터
    3.2 수술 도구 말단부의 제어
4. 범용 로봇팔의 제어
    4.1 UR5e의 정기구학
    4.2 UR5e의 역기구학
    4.3 제약조건 하에서의 UR5e 로봇팔의 제어
    4.4 수술 도구 말단의 반복 정밀도 계산.
5. 실험 결과
6. 결 론
References

• 이재봉(Pusan National University) | Jae-Bong Yi
• 진상록(Pusan National University) | Sangrok Jin
• 이승준(Pusan National University) | Seung-Joon Yi Corresponding author