The aim of this assignment is to develop a prototype of a 1-degree-of-freedom teleoperated master-slave system. The slave-side will mimic the master's exerted forces, resulting in a needle being driven into a phantom (mimicking human soft tissue).
A surgeon operating the system's master-side will be provided with haptic feedback on the axial forces the needle is experiencing. Once this system is designed, the implementation of haptic feedback will be evaluated.
The teleoperation system is useful for MRI-guided interventions as it will allow the interventional radiologist to operate and control the insertion robot, remotely, while being outside the MRI bore.