Development of master-slave integrated haptic forceps based on bilateral control

Minoru Yokoyama; Takahiro Mizoguchi; Takuya Matsunaga; Tomoyuki Shimono; Kouhei Ohnishi

doi:10.1109/AIM.2017.8014106

Development of master-slave integrated haptic forceps based on bilateral control

Minoru Yokoyama, Takahiro Mizoguchi, Takuya Matsunaga, Tomoyuki Shimono, Kouhei Ohnishi

Department of System Design Engineering

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

2 Citations (Scopus)

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	https://doi.org/10.1109/AIM.2017.8014106
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

ASJC Scopus subject areas

Electrical and Electronic Engineering
Control and Systems Engineering
Computer Science Applications
Software

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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

Yokoyama, M, Mizoguchi, T, Matsunaga, T, Shimono, T & Ohnishi, K 2017, Development of master-slave integrated haptic forceps based on bilateral control. in 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017., 8014106, Institute of Electrical and Electronics Engineers Inc., pp. 743-748, 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017, Munich, Germany, 17/7/3. https://doi.org/10.1109/AIM.2017.8014106

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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.",

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