Construction of motion reproduction system using haptic forceps robots for needle insertion

Takuya Matsunaga, Daisuke Tomizuka, Koyo Yu, Takahiro Mizoguchi, Kouhei Ohnishi

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

2 Citations (Scopus)

Abstract

In medical field, teleoperation robots for surgery have been studied and developed to support surgeons. Surgical tasks such as needle insertion and suturing are realized by multi degree of freedom (DoF) forceps robots which are a component of a surgical robot. Besieds, surgical robots have some advantages such as automation of tasks to reduce the burden to surgeons. Motion reproduction system is a method to automate tasks. The haptic data is used as the data of human motion for motion reproduction system. However, realization of tasks by using multi DoF robots as a motion reproduction system is still difficult. In this paper, in order to realize support for surgeons by automatic motion, needle insertion is realized by the haptic surgical robot composed of multi DoF haptic forceps robots. Experimental results show that the motion of operator was reproduced by using the haptic data, and automatic needle insertion based on motion reproduction system was achieved.

Original languageEnglish
Title of host publicationProceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society
PublisherIEEE Computer Society
Pages722-727
Number of pages6
ISBN (Electronic)9781509034741
DOIs
Publication statusPublished - 2016 Dec 21
Event42nd Conference of the Industrial Electronics Society, IECON 2016 - Florence, Italy
Duration: 2016 Oct 242016 Oct 27

Other

Other42nd Conference of the Industrial Electronics Society, IECON 2016
CountryItaly
CityFlorence
Period16/10/2416/10/27

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Matsunaga, T., Tomizuka, D., Yu, K., Mizoguchi, T., & Ohnishi, K. (2016). Construction of motion reproduction system using haptic forceps robots for needle insertion. In Proceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society (pp. 722-727). [7793920] IEEE Computer Society. https://doi.org/10.1109/IECON.2016.7793920