Development of 3-DOF haptic surgical trocar robot using tendon-drive

Kazuki Tanida, Takahiro Mizoguchi, Kouhei Ohnishi

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

Abstract

The most construction of conventional forceps robots developed for minimally invasive surgery are arm robots. Due to its configuration and motor alignment, arm robots are effected by large inertia force. These large inertia force make operators to drive robots difficulty. Therefore, in order to operate easily, the moving parts which are effected from gravity force should be small. Arm robots are made to imitate construction of the human. But since the motion is restricted by trocar in minimally invasive surgery, the arm construction may not be suitable. The one of the best way to move forceps is to drive trocar directly. In proposed mechanism, robots move trocar parts directly to make end effector small. Trocar has 3 degrees in one joint and tendon-drive system can realize multi degrees of freedom in one joint. Thus, tendon-drive is applied in proposed mechanism. Experiments show the validity of proposed method.

Original languageEnglish
Title of host publication2013 IEEE International Conference on Mechatronics, ICM 2013
Pages516-521
Number of pages6
DOIs
Publication statusPublished - 2013 Jul 1
Event2013 IEEE International Conference on Mechatronics, ICM 2013 - Vicenza, Italy
Duration: 2013 Feb 272013 Mar 1

Publication series

Name2013 IEEE International Conference on Mechatronics, ICM 2013

Other

Other2013 IEEE International Conference on Mechatronics, ICM 2013
CountryItaly
CityVicenza
Period13/2/2713/3/1

Keywords

  • bilateral control
  • master-slave robot system
  • motion control
  • tendon-drive
  • trocar

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

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  • Cite this

    Tanida, K., Mizoguchi, T., & Ohnishi, K. (2013). Development of 3-DOF haptic surgical trocar robot using tendon-drive. In 2013 IEEE International Conference on Mechatronics, ICM 2013 (pp. 516-521). [6519096] (2013 IEEE International Conference on Mechatronics, ICM 2013). https://doi.org/10.1109/ICMECH.2013.6519096