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It has achieved telepresence and the performance of repetitive, precise, and accurate tasks. The \u201cmaster\u2013slave\u201d robotic system allows control of manipulators by surgeon at distant site. Robotic surgical fingers were developed to allow surgeons to move them with accuracy through sensors fixed on surgeon\u2019s hand. Also, haptic sensors were developed to allow transmission of sensation from robotic finger to surgeon\u2019s finger. A complete system of a, 3D printed by a stereolithography (SLA) 3D printer, robotic surgical finger with haptic feedback system is proposed. The developed system includes a master glove that controls the motion of a 3DOF robotic slave finger while getting haptic feedback of force\/pressure exerted on it. The precise control of the slave robotic finger was achieved by applying a Proportional Integral and Derivative (PID), fast and robust, control algorithm using an Arduino based hardware and software module. The individual joint angles, metacarpophalangeal joint (MCP) and proximal interphalangeal joint (PIP), and wrist were measured using rotatory and inertial sensors respectively. The degree of movement for MCP, PIP, and Wrist joints were measured to be 0\u201386\u00b0, 0\u201371\u00b0, and 0\u201389\u00b0 respectively. Motion to the robotic finger is mimicked by a glove motion requiring minimal learning curve for the device. The collected data for the slave motion is in good agreement with the master-glove motion data. The vibro-tactile haptic feedback system was developed to distinguish between three different materials to mimic human flesh, tumor, and bone. The master\u2013slave system using robotic surgical finger with good simultaneous movement to surgeon\u2019s finger and good haptic sensation will provide the surgeon with the opportunity to perform finger dissection in laparoscopic and robotic surgery, as it used to be in open surgery. 3D bio printing will make this process even cheaper with the added advantage of making surgical tools locally according to the need of the surgery. An ongoing work is to develop silicone based 8\u00a0mm robotic surgical finger with multiple type haptic feedback.<\/jats:p>","DOI":"10.1007\/s11701-024-01819-8","type":"journal-article","created":{"date-parts":[[2024,1,18]],"date-time":"2024-01-18T09:02:31Z","timestamp":1705568551000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["Development of a master\u2013slave 3D printed robotic surgical finger with haptic feedback"],"prefix":"10.1007","volume":"18","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8388-6454","authenticated-orcid":false,"given":"Jamal T.","family":"Hamdi","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1112-3690","authenticated-orcid":false,"given":"Shadi","family":"Munshi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8084-0955","authenticated-orcid":false,"given":"Sufyan","family":"Azam","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1079-5893","authenticated-orcid":false,"given":"Aiman","family":"Omer","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2024,1,18]]},"reference":[{"issue":"10","key":"1819_CR1","doi-asserted-by":"publisher","first-page":"2550","DOI":"10.1007\/s00268-016-3543-9","volume":"40","author":"TL Ghezzi","year":"2016","unstructured":"Ghezzi TL, Corleta OC (2016) 30 years of robotic surgery. 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