Bilateral control in multi DOF haptic surgical robotic system utilizing FPGA

Hiroyuki Tanaka, Kouhei Ohnishi, Hiroaki Nishi, Toshikazu Kawai, Yasuhide Morikawa, Masaki Kitajima, Soji Ozawa, Toshiharu Furukawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

Minimally invasive surgery is an important issue from the point of view of patients' Quality of Life (QoL). An endoscopic surgery is one of the minimally invasive surgeries. With the endoscopic surgery, pain could be less. This operation, however, has difficulty, and surgeons have to be well trained. To solve this problem, an endoscopic surgery system based on haptic teleoperation was proposed. The characteristic of the system is position and force information is transmitted bilaterally between master and slave robots. This means that a teleoperation with haptic information can be achieved, and surgeons can perform a telesurgery safely and smoothly. The system, however, does not have enough degrees of freedom for an actual operation. In this paper, a multi degrees of freedom endoscopic robotic system is proposed. This system has 6 degrees of freedom on each master and slave robot. A haptic control system implemented in the proposed system is based on acceleration control. Due to control in acceleration dimension, robust and ideal position and force control are able to be attained simultaneously. The control system requires a short sampling period for attainment of wide bandwidth to transmit keen force sensation. To ensure the short sampling period in a multi degrees of freedom system, this paper proposes the multi degrees of freedom tele-robotic system utilizing FPGA as a controller. Finally the validity of the proposed system is shown by experimental results.

Original languageEnglish
Title of host publicationIEEE International Symposium on Industrial Electronics
Pages3084-3089
Number of pages6
DOIs
Publication statusPublished - 2007
Event2007 IEEE International Symposium on Industrial Electronics, ISIE 2007 - Caixanova - Vigo, Spain
Duration: 2007 Jun 42007 Jun 7

Other

Other2007 IEEE International Symposium on Industrial Electronics, ISIE 2007
CountrySpain
CityCaixanova - Vigo
Period07/6/407/6/7

Fingerprint

Surgery
Field programmable gate arrays (FPGA)
Robotics
Degrees of freedom (mechanics)
Remote control
Acceleration control
Robots
Sampling
Control systems
Force control
Position control
Bandwidth
Controllers

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Tanaka, H., Ohnishi, K., Nishi, H., Kawai, T., Morikawa, Y., Kitajima, M., ... Furukawa, T. (2007). Bilateral control in multi DOF haptic surgical robotic system utilizing FPGA. In IEEE International Symposium on Industrial Electronics (pp. 3084-3089). [4375108] https://doi.org/10.1109/ISIE.2007.4375108

Bilateral control in multi DOF haptic surgical robotic system utilizing FPGA. / Tanaka, Hiroyuki; Ohnishi, Kouhei; Nishi, Hiroaki; Kawai, Toshikazu; Morikawa, Yasuhide; Kitajima, Masaki; Ozawa, Soji; Furukawa, Toshiharu.

IEEE International Symposium on Industrial Electronics. 2007. p. 3084-3089 4375108.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Tanaka, H, Ohnishi, K, Nishi, H, Kawai, T, Morikawa, Y, Kitajima, M, Ozawa, S & Furukawa, T 2007, Bilateral control in multi DOF haptic surgical robotic system utilizing FPGA. in IEEE International Symposium on Industrial Electronics., 4375108, pp. 3084-3089, 2007 IEEE International Symposium on Industrial Electronics, ISIE 2007, Caixanova - Vigo, Spain, 07/6/4. https://doi.org/10.1109/ISIE.2007.4375108
Tanaka H, Ohnishi K, Nishi H, Kawai T, Morikawa Y, Kitajima M et al. Bilateral control in multi DOF haptic surgical robotic system utilizing FPGA. In IEEE International Symposium on Industrial Electronics. 2007. p. 3084-3089. 4375108 https://doi.org/10.1109/ISIE.2007.4375108
Tanaka, Hiroyuki ; Ohnishi, Kouhei ; Nishi, Hiroaki ; Kawai, Toshikazu ; Morikawa, Yasuhide ; Kitajima, Masaki ; Ozawa, Soji ; Furukawa, Toshiharu. / Bilateral control in multi DOF haptic surgical robotic system utilizing FPGA. IEEE International Symposium on Industrial Electronics. 2007. pp. 3084-3089
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