Sina is a complete robotic telesurgery system with force feedback which can be used for performing remote surgery operations through internet or other communication channels. This system has two main subsystems including a master robotic console at surgeon’s side and a slave robotic system at patient’s side with two robots which are installed on the sides of a specific surgery bed.
A robotic cameraman called RoboLens is also integrated into the system to take the intraabdominal images of the patient and send them to the surgeon’s master console. The master robots receive the surgeon’s hands movements and transmit them to the patient’s side slave robots that mimic the movements in a real-time manner. Simultaneously, the slave robots measure the robot and patient interaction forces/torques, including the pinch forces under instruments jaws, and transmit them to the surgeon’s side master robotic system.