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 |
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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 |
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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