Development of a haptic palpation device with a scaling bilateral control for the NOTES surgery

Kenji Ogawa, Kouhei Ohnishi

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

Abstract

This paper proposes a haptic palpation device for a NOTES surgery. A proposed device is consisted on a linear actuator and a flexible wire filled with liquid. A mechanical principle is based on an Electro-Hydraulic Transmission System(EHTS). The EHTS is transmitted to the position and force by using liquid energy. As one of the advantages of the EHTS, the transmission performance of the EHTS does not depend on the wire's posture. In this research, a scaling bilateral control is implemented to the EHTS based palpation probe. By this proposed device, an operator can feel a reaction force from the bio-tissue. The validity of a proposed device is confirmed by experiments.

Original languageEnglish
Title of host publicationProceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages93-98
Number of pages6
ISBN (Electronic)9781509045389
DOIs
Publication statusPublished - 2017 May 6
Event2017 IEEE International Conference on Mechatronics, ICM 2017 - Gippsland, Australia
Duration: 2017 Feb 132017 Feb 15

Other

Other2017 IEEE International Conference on Mechatronics, ICM 2017
CountryAustralia
CityGippsland
Period17/2/1317/2/15

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Control and Optimization

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  • Cite this

    Ogawa, K., & Ohnishi, K. (2017). Development of a haptic palpation device with a scaling bilateral control for the NOTES surgery. In Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017 (pp. 93-98). [7921086] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMECH.2017.7921086