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

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

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

1 Citation (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 languageEnglish
Title of host publication2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages743-748
Number of pages6
ISBN (Electronic)9781509059980
DOIs
Publication statusPublished - 2017 Aug 21
Event2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Germany
Duration: 2017 Jul 32017 Jul 7

Other

Other2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
CountryGermany
CityMunich
Period17/7/317/7/7

ASJC Scopus subject areas

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

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  • Cite this

    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 (pp. 743-748). [8014106] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2017.8014106