Development of 16-DOF telesurgical forceps master/slave robot with haptics

Wataru Motooka; Takahiro Nozaki; Takahiro Mizoguchi; Keisuke Sugawara; Fumiya Mitome; Keishi Okuda; Midori Miyagaki; Daisuke Yashiro; Takahiro Yakoh; Kouhei Ohnishi; Yasuhide Morikawa; Naoki Shimojima

doi:10.1109/IECON.2010.5675353

Development of 16-DOF telesurgical forceps master/slave robot with haptics

Wataru Motooka, Takahiro Nozaki, Takahiro Mizoguchi, Keisuke Sugawara, Fumiya Mitome, Keishi Okuda, Midori Miyagaki, Daisuke Yashiro, Takahiro Yakoh, Kouhei Ohnishi, Yasuhide Morikawa, Naoki Shimojima

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

10 Citations (Scopus)

Abstract

Minimally invasive surgery (MIS) has attracted attention recently. MIS such as endoscopic surgery considers a patient's quality of life. In endoscopic surgeries, bilateral control systems are strongly required to apply. It is necessary to develop the multi Degrees Of Freedom (DOF) robot to achieve various operation procedures including endoscopic surgery. In this paper, 16-DOF haptic telesurgery master/slave robot is developed. This master/slave robot has two arms, and each arm has 8-DOF. The bilateral control using 4ch controller is implemented in the master/slave robot. Experiments of peeling motion and suturing motion are performed by a surgeon to evaluate the development robot.

Original language	English
Title of host publication	Proceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society
Pages	2081-2086
Number of pages	6
DOIs	https://doi.org/10.1109/IECON.2010.5675353
Publication status	Published - 2010
Event	36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010 - Glendale, AZ, United States Duration: 2010 Nov 7 → 2010 Nov 10

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)

Other

Other	36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010
Country/Territory	United States
City	Glendale, AZ
Period	10/11/7 → 10/11/10

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/IECON.2010.5675353

Cite this

Motooka, W., Nozaki, T., Mizoguchi, T., Sugawara, K., Mitome, F., Okuda, K., Miyagaki, M., Yashiro, D., Yakoh, T., Ohnishi, K., Morikawa, Y., & Shimojima, N. (2010). Development of 16-DOF telesurgical forceps master/slave robot with haptics. In Proceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society (pp. 2081-2086). [5675353] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2010.5675353

Development of 16-DOF telesurgical forceps master/slave robot with haptics. / Motooka, Wataru; Nozaki, Takahiro; Mizoguchi, Takahiro et al.

Proceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society. 2010. p. 2081-2086 5675353 (IECON Proceedings (Industrial Electronics Conference)).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Motooka, W, Nozaki, T, Mizoguchi, T, Sugawara, K, Mitome, F, Okuda, K, Miyagaki, M, Yashiro, D, Yakoh, T, Ohnishi, K, Morikawa, Y & Shimojima, N 2010, Development of 16-DOF telesurgical forceps master/slave robot with haptics. in Proceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society., 5675353, IECON Proceedings (Industrial Electronics Conference), pp. 2081-2086, 36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010, Glendale, AZ, United States, 10/11/7. https://doi.org/10.1109/IECON.2010.5675353

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AU - Mitome, Fumiya

AU - Okuda, Keishi

AU - Miyagaki, Midori

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AB - Minimally invasive surgery (MIS) has attracted attention recently. MIS such as endoscopic surgery considers a patient's quality of life. In endoscopic surgeries, bilateral control systems are strongly required to apply. It is necessary to develop the multi Degrees Of Freedom (DOF) robot to achieve various operation procedures including endoscopic surgery. In this paper, 16-DOF haptic telesurgery master/slave robot is developed. This master/slave robot has two arms, and each arm has 8-DOF. The bilateral control using 4ch controller is implemented in the master/slave robot. Experiments of peeling motion and suturing motion are performed by a surgeon to evaluate the development robot.

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Development of 16-DOF telesurgical forceps master/slave robot with haptics

Abstract

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