本文旨在針對手術機器人的力回饋響應進行遠端操控實驗探討。本研究自行設計一個一維自由度之雙邊手術鉗系統，採用擾動估測器與反力估測器控制演算法，使操作者操作雙邊手術鉗系統時，可以自動估測出此系統所受到的外力大小而不需配置力量感測器；並將估測出的外力大小，藉由雙邊控制器來達成雙邊力回饋的響應。本研究亦採用雙邊比例縮放的控制架構，在所開發系統上縮放雙邊力量的大小，最後並基於雙邊通訊架構進行雙邊手術鉗之遠端操作測試。我們將上述控制架構應用於雙邊手術鉗系統進行等速度運動之擾動估測、雙邊自由移動、雙邊接觸移動等實驗探討，並以力量感測器驗證本系統的可行性。

This thesis concentrates on investigation of the force feedback in a surgical robot system. The research presents the design for a one degree of freedom bilateral forceps system. Thanks to the applied disturbance observer and reaction force observer technique, during bilateral operation this system can automatically estimate the reaction force without the need of installing force sensors. In addition, this research also applies a bilateral control which can scale the position and force of the forceps system for better operation. A bilateral communication control is implemented to test the teleoperation behavior of this system. The bilateral control methods mentioned above are implemented for experimental investigation, including parameter identification for the used disturbance observer, bilateral free motion test, bilateral contact motion test, and bilateral communication motion test. The experimental results demonstrate that the bilateral forceps system is feasible even without using the force sensor feedback.

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