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

Guillaume Fau, Takuya Matsunaga, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationProceedings - 2014 7th International Conference on Human System Interactions, HSI 2014
PublisherIEEE Computer Society
Pages172-177
Number of pages6
ISBN (Print)9781479947140
DOIs
Publication statusPublished - 2014 Jan 1
Event7th International Conference on Human System Interactions, HSI 2014 - Lisbon, Portugal
Duration: 2014 Jun 162014 Jun 18

Publication series

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

Other

Other7th International Conference on Human System Interactions, HSI 2014
CountryPortugal
CityLisbon
Period14/6/1614/6/18

Keywords

  • Haptic devices
  • Minimally invasive surgery
  • Surgical robots
  • Tele-operation

ASJC Scopus subject areas

  • Human-Computer Interaction

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  • Cite this

    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