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

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

9 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 languageEnglish
Title of host publicationProceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society
Pages2081-2086
Number of pages6
DOIs
Publication statusPublished - 2010
Event36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010 - Glendale, AZ, United States
Duration: 2010 Nov 72010 Nov 10

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010
CountryUnited States
CityGlendale, AZ
Period10/11/710/11/10

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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    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