TY - GEN
T1 - Bilateral control in multi DOF haptic surgical robotic system utilizing FPGA
AU - Tanaka, Hiroyuki
AU - Ohnishi, Kouhei
AU - Nishi, Hiroaki
AU - Kawai, Toshikazu
AU - Morikawa, Yasuhide
AU - Kitajima, Masaki
AU - Ozawa, Soji
AU - Furukawa, Toshiharu
PY - 2007/12/1
Y1 - 2007/12/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=50049098563&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=50049098563&partnerID=8YFLogxK
U2 - 10.1109/ISIE.2007.4375108
DO - 10.1109/ISIE.2007.4375108
M3 - Conference contribution
AN - SCOPUS:50049098563
SN - 1424407559
SN - 9781424407552
T3 - IEEE International Symposium on Industrial Electronics
SP - 3084
EP - 3089
BT - 2007 IEEE International Symposium on Industrial Electronics, ISIE 2007, Proceedings
T2 - 2007 IEEE International Symposium on Industrial Electronics, ISIE 2007
Y2 - 4 June 2007 through 7 June 2007
ER -