Double hands manipulation with force sensation realized by multi DoF forceps robots

Takuya Matsunaga, Guillaume Fau, Shuhei Shimizu, Kazuki Tanida, Takahiro Mizoguchi, Kouhei Ohnishi

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

2 Citations (Scopus)

Abstract

This paper presents the master-slave system which is composed of multi degrees of freedom (DoF) forceps robots. In minimally invasive surgery, there are some advantages for patients because incision is small. However, it is difficult for surgeons. Therefore, in order to support surgeons, surgical robots are studied and developed. Although conventional surgical robots have high position accuracy, the transmission of force sensation is not adequate. Therefore, two types of the five DoF surgical robot are developed to transmit force sensation. Force sensation can be transmitted by bilateral control. In this paper, the master-slave system with bilateral control is constructed. Two types of the five DoF surgical robot are used as two human hands. In the experiments, simple tasks are carried out and the transmission of force sensation is validated.

Original languageEnglish
Title of host publicationIECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2840-2845
Number of pages6
ISBN (Electronic)9781479917624
DOIs
Publication statusPublished - 2016 Jan 25
Event41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan
Duration: 2015 Nov 92015 Nov 12

Other

Other41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
CountryJapan
CityYokohama
Period15/11/915/11/12

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

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