Development of a five degrees of freedom Master/Slave robot for tele-operated laparoscopic surgical operations

Guillaume Fau; Takuya Matsunaga; Kouhei Ohnishi

doi:10.1109/HSI.2014.6860469

Development of a five degrees of freedom Master/Slave robot for tele-operated laparoscopic surgical operations

Guillaume Fau, Takuya Matsunaga, Kouhei Ohnishi

Department of System Design Engineering

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

5 Citations (Scopus)

Abstract

This paper presents the design of a five degrees of freedom surgical robot suitable for laparoscopic surgery. Robots based on this design must fulfil the constraints of manipulability for the operating surgeon and the possibility of use through Master/Slave system as a tele-operated haptic device. The proposed robot is able to perform a full human-like wrist motion and operates a surgical forceps. Screenshots of both Computer- Aided Design and simulation results of the robot workspace, as well as the manipulability model are shown in this paper.

Original language	English
Title of host publication	Proceedings - 2014 7th International Conference on Human System Interactions, HSI 2014
Publisher	IEEE Computer Society
Pages	172-177
Number of pages	6
ISBN (Print)	9781479947140
DOIs	https://doi.org/10.1109/HSI.2014.6860469
Publication status	Published - 2014 Jan 1
Event	7th International Conference on Human System Interactions, HSI 2014 - Lisbon, Portugal Duration: 2014 Jun 16 → 2014 Jun 18

Publication series

Name	Proceedings - 2014 7th International Conference on Human System Interactions, HSI 2014

Other

Other	7th International Conference on Human System Interactions, HSI 2014
Country	Portugal
City	Lisbon
Period	14/6/16 → 14/6/18

Keywords

Haptic devices
Minimally invasive surgery
Surgical robots
Tele-operation

ASJC Scopus subject areas

Human-Computer Interaction

Access to Document

10.1109/HSI.2014.6860469

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Fau, G., Matsunaga, T., & Ohnishi, K. (2014). Development of a five degrees of freedom Master/Slave robot for tele-operated laparoscopic surgical operations. In Proceedings - 2014 7th International Conference on Human System Interactions, HSI 2014 (pp. 172-177). [6860469] (Proceedings - 2014 7th International Conference on Human System Interactions, HSI 2014). IEEE Computer Society. https://doi.org/10.1109/HSI.2014.6860469

Development of a five degrees of freedom Master/Slave robot for tele-operated laparoscopic surgical operations. / Fau, Guillaume; Matsunaga, Takuya; Ohnishi, Kouhei.

Proceedings - 2014 7th International Conference on Human System Interactions, HSI 2014. IEEE Computer Society, 2014. p. 172-177 6860469 (Proceedings - 2014 7th International Conference on Human System Interactions, HSI 2014).

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

Fau, G, Matsunaga, T & Ohnishi, K 2014, Development of a five degrees of freedom Master/Slave robot for tele-operated laparoscopic surgical operations. in Proceedings - 2014 7th International Conference on Human System Interactions, HSI 2014., 6860469, Proceedings - 2014 7th International Conference on Human System Interactions, HSI 2014, IEEE Computer Society, pp. 172-177, 7th International Conference on Human System Interactions, HSI 2014, Lisbon, Portugal, 14/6/16. https://doi.org/10.1109/HSI.2014.6860469

Fau G, Matsunaga T, Ohnishi K. Development of a five degrees of freedom Master/Slave robot for tele-operated laparoscopic surgical operations. In Proceedings - 2014 7th International Conference on Human System Interactions, HSI 2014. IEEE Computer Society. 2014. p. 172-177. 6860469. (Proceedings - 2014 7th International Conference on Human System Interactions, HSI 2014). https://doi.org/10.1109/HSI.2014.6860469

Fau, Guillaume ; Matsunaga, Takuya ; Ohnishi, Kouhei. / Development of a five degrees of freedom Master/Slave robot for tele-operated laparoscopic surgical operations. Proceedings - 2014 7th International Conference on Human System Interactions, HSI 2014. IEEE Computer Society, 2014. pp. 172-177 (Proceedings - 2014 7th International Conference on Human System Interactions, HSI 2014).

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abstract = "This paper presents the design of a five degrees of freedom surgical robot suitable for laparoscopic surgery. Robots based on this design must fulfil the constraints of manipulability for the operating surgeon and the possibility of use through Master/Slave system as a tele-operated haptic device. The proposed robot is able to perform a full human-like wrist motion and operates a surgical forceps. Screenshots of both Computer- Aided Design and simulation results of the robot workspace, as well as the manipulability model are shown in this paper.",

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Development of a five degrees of freedom Master/Slave robot for tele-operated laparoscopic surgical operations

Abstract

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Keywords

ASJC Scopus subject areas

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