Development of multi-degree-of-freedom bilateral forceps robot system using FPGA

Ena Ishii, Seiichiro Katsura, Hiroaki Nishi, Kouhei Ohnishi

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

Fast growing use of minimally invasive endoscopic surgeries called for development of robots assisting in such procedures. However, existing surgical robots cannot transmit tactile sensation to the operator. To overcome this shortcoming, a bilateral teleoperation method was developed making it possible to accurately convey tactile sensation in single-degree-of-freedom forceps robots. This paper deals with the development of a multi-degree-of-freedom bilateral forceps robot system for surgical procedures which can adapt to actual conditions of the surgery. Bilateral teleoperation of multi-degree-of-freedom robots requires exchange of environmental information between master and slave devices in common coordinates. In this study we adopted mode coordinates which are better related to the motion of the robot. We also proposed a method to decouple the mechanical interference in mode coordinates. An FPGA-based controller introduced in this study makes it possible to reduce data processing time and to use hardware-based real-time control. As a result, multi-degree-of-freedom force feedback is attained. The experimental results show the viability of the proposed method.

Original languageEnglish
Pages (from-to)23-33
Number of pages11
JournalElectronics and Communications in Japan, Part II: Electronics (English translation of Denshi Tsushin Gakkai Ronbunshi)
Volume91
Issue number6
DOIs
Publication statusPublished - 2008

Fingerprint

robots
Field Programmable Gate Array
Field programmable gate arrays (FPGA)
degrees of freedom
Robot
Degree of freedom
Robots
Teleoperation
Remote control
touch
Surgery
surgery
Minimally Invasive Surgery
Real time control
Force Feedback
Viability
viability
controllers
hardware
Feedback

Keywords

  • Acceleration control
  • Bilateral teleoperation
  • Environmental mode
  • FPGA
  • Motion control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Computer Networks and Communications
  • Physics and Astronomy(all)
  • Signal Processing
  • Applied Mathematics

Cite this

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abstract = "Fast growing use of minimally invasive endoscopic surgeries called for development of robots assisting in such procedures. However, existing surgical robots cannot transmit tactile sensation to the operator. To overcome this shortcoming, a bilateral teleoperation method was developed making it possible to accurately convey tactile sensation in single-degree-of-freedom forceps robots. This paper deals with the development of a multi-degree-of-freedom bilateral forceps robot system for surgical procedures which can adapt to actual conditions of the surgery. Bilateral teleoperation of multi-degree-of-freedom robots requires exchange of environmental information between master and slave devices in common coordinates. In this study we adopted mode coordinates which are better related to the motion of the robot. We also proposed a method to decouple the mechanical interference in mode coordinates. An FPGA-based controller introduced in this study makes it possible to reduce data processing time and to use hardware-based real-time control. As a result, multi-degree-of-freedom force feedback is attained. The experimental results show the viability of the proposed method.",
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author = "Ena Ishii and Seiichiro Katsura and Hiroaki Nishi and Kouhei Ohnishi",
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AU - Katsura, Seiichiro

AU - Nishi, Hiroaki

AU - Ohnishi, Kouhei

PY - 2008

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N2 - Fast growing use of minimally invasive endoscopic surgeries called for development of robots assisting in such procedures. However, existing surgical robots cannot transmit tactile sensation to the operator. To overcome this shortcoming, a bilateral teleoperation method was developed making it possible to accurately convey tactile sensation in single-degree-of-freedom forceps robots. This paper deals with the development of a multi-degree-of-freedom bilateral forceps robot system for surgical procedures which can adapt to actual conditions of the surgery. Bilateral teleoperation of multi-degree-of-freedom robots requires exchange of environmental information between master and slave devices in common coordinates. In this study we adopted mode coordinates which are better related to the motion of the robot. We also proposed a method to decouple the mechanical interference in mode coordinates. An FPGA-based controller introduced in this study makes it possible to reduce data processing time and to use hardware-based real-time control. As a result, multi-degree-of-freedom force feedback is attained. The experimental results show the viability of the proposed method.

AB - Fast growing use of minimally invasive endoscopic surgeries called for development of robots assisting in such procedures. However, existing surgical robots cannot transmit tactile sensation to the operator. To overcome this shortcoming, a bilateral teleoperation method was developed making it possible to accurately convey tactile sensation in single-degree-of-freedom forceps robots. This paper deals with the development of a multi-degree-of-freedom bilateral forceps robot system for surgical procedures which can adapt to actual conditions of the surgery. Bilateral teleoperation of multi-degree-of-freedom robots requires exchange of environmental information between master and slave devices in common coordinates. In this study we adopted mode coordinates which are better related to the motion of the robot. We also proposed a method to decouple the mechanical interference in mode coordinates. An FPGA-based controller introduced in this study makes it possible to reduce data processing time and to use hardware-based real-time control. As a result, multi-degree-of-freedom force feedback is attained. The experimental results show the viability of the proposed method.

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