Abstract
In recent years, minimally invasive surgery (MIS) has been developed in medical field. MIS is performed by inserting some tools such as forceps into holes made on a patient's body. MIS requires surgeons of skills and experiences because of the limited space to operate tools and the slight tactile sensation which the operator can feel through the forceps. To improve the performance of surgeons, this paper proposes novel haptic forceps based on bilateral control. Conventional haptic forceps robots are composed of the master robot operated by the operator and the slave robot set on the remote place. In the case of the proposed forceps, the master and the slave are integrated into a pair of forceps. Experimental results show that the proposed forceps can be used as well as normal forceps. The scaling function which is useful for the delicate operation and the data acquisition for motion analysis are also realized in the proposed forceps.
| Original language | English |
|---|---|
| Title of host publication | 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 743-748 |
| Number of pages | 6 |
| ISBN (Electronic) | 9781509059980 |
| DOIs | |
| Publication status | Published - 2017 Aug 21 |
| Event | 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Germany Duration: 2017 Jul 3 → 2017 Jul 7 |
Other
| Other | 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 |
|---|---|
| Country | Germany |
| City | Munich |
| Period | 17/7/3 → 17/7/7 |
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ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Control and Systems Engineering
- Computer Science Applications
- Software
Cite this
Development of master-slave integrated haptic forceps based on bilateral control. / Yokoyama, Minoru; Mizoguchi, Takahiro; Matsunaga, Takuya; Shimono, Tomoyuki; Ohnishi, Kouhei.
2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 743-748 8014106.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Development of master-slave integrated haptic forceps based on bilateral control
AU - Yokoyama, Minoru
AU - Mizoguchi, Takahiro
AU - Matsunaga, Takuya
AU - Shimono, Tomoyuki
AU - Ohnishi, Kouhei
PY - 2017/8/21
Y1 - 2017/8/21
N2 - In recent years, minimally invasive surgery (MIS) has been developed in medical field. MIS is performed by inserting some tools such as forceps into holes made on a patient's body. MIS requires surgeons of skills and experiences because of the limited space to operate tools and the slight tactile sensation which the operator can feel through the forceps. To improve the performance of surgeons, this paper proposes novel haptic forceps based on bilateral control. Conventional haptic forceps robots are composed of the master robot operated by the operator and the slave robot set on the remote place. In the case of the proposed forceps, the master and the slave are integrated into a pair of forceps. Experimental results show that the proposed forceps can be used as well as normal forceps. The scaling function which is useful for the delicate operation and the data acquisition for motion analysis are also realized in the proposed forceps.
AB - In recent years, minimally invasive surgery (MIS) has been developed in medical field. MIS is performed by inserting some tools such as forceps into holes made on a patient's body. MIS requires surgeons of skills and experiences because of the limited space to operate tools and the slight tactile sensation which the operator can feel through the forceps. To improve the performance of surgeons, this paper proposes novel haptic forceps based on bilateral control. Conventional haptic forceps robots are composed of the master robot operated by the operator and the slave robot set on the remote place. In the case of the proposed forceps, the master and the slave are integrated into a pair of forceps. Experimental results show that the proposed forceps can be used as well as normal forceps. The scaling function which is useful for the delicate operation and the data acquisition for motion analysis are also realized in the proposed forceps.
UR - http://www.scopus.com/inward/record.url?scp=85028767273&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85028767273&partnerID=8YFLogxK
U2 - 10.1109/AIM.2017.8014106
DO - 10.1109/AIM.2017.8014106
M3 - Conference contribution
AN - SCOPUS:85028767273
SP - 743
EP - 748
BT - 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
PB - Institute of Electrical and Electronics Engineers Inc.
ER -