Gripper's rotation of five DoF surgical robot by using coordinate transformation

Takuya Matsunaga, Guillaume Fau, Ryohei Kozuki, Tanida Kazuki, Kouhei Ohnishi

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

1 Citation (Scopus)

Abstract

This paper presents a control method of gripper's rotation angle using the five degrees of freedom (DoF) surgical robot. Minimally invasive surgery has advantages for patients, but skills are required for surgeons and the demand to support by engineering is increasing. Therefore, surgical robots teleoperated by surgeons and operate patients are studied and developed. However, conventional surgical robots are not able to transmit force sense to operator adequately. Besides, there are mechanical problems caused by driving method and increased DoF. In order to overcome these problems, the five DoF surgical robot with z-translation, grasping, roll motion, pitch motion and yaw motion is developed. The rotation axes of roll, pitch and yaw motion cross a point and it is similar to human hand which can manage complex tasks. However, the roll motion of the five DoF surgical robot is different from the one of human hand because the all part inserted into human body is rotated by the roll motion. In this paper, a method to control the gripper's rotation angle by using coordinate transformation and control on workspace is proposed. The validity of the proposed method is verified by experiments.

Original languageEnglish
Title of host publicationProceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages52-57
Number of pages6
ISBN (Print)9781479936335
DOIs
Publication statusPublished - 2015 Apr 9
Event2015 IEEE International Conference on Mechatronics, ICM 2015 - Nagoya, Japan
Duration: 2015 Mar 62015 Mar 8

Other

Other2015 IEEE International Conference on Mechatronics, ICM 2015
CountryJapan
CityNagoya
Period15/3/615/3/8

Fingerprint

Grippers
Degrees of freedom (mechanics)
Surgery
Robotic surgery
Experiments

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

Matsunaga, T., Fau, G., Kozuki, R., Kazuki, T., & Ohnishi, K. (2015). Gripper's rotation of five DoF surgical robot by using coordinate transformation. In Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015 (pp. 52-57). [7083947] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMECH.2015.7083947

Gripper's rotation of five DoF surgical robot by using coordinate transformation. / Matsunaga, Takuya; Fau, Guillaume; Kozuki, Ryohei; Kazuki, Tanida; Ohnishi, Kouhei.

Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 52-57 7083947.

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

Matsunaga, T, Fau, G, Kozuki, R, Kazuki, T & Ohnishi, K 2015, Gripper's rotation of five DoF surgical robot by using coordinate transformation. in Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015., 7083947, Institute of Electrical and Electronics Engineers Inc., pp. 52-57, 2015 IEEE International Conference on Mechatronics, ICM 2015, Nagoya, Japan, 15/3/6. https://doi.org/10.1109/ICMECH.2015.7083947
Matsunaga T, Fau G, Kozuki R, Kazuki T, Ohnishi K. Gripper's rotation of five DoF surgical robot by using coordinate transformation. In Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015. Institute of Electrical and Electronics Engineers Inc. 2015. p. 52-57. 7083947 https://doi.org/10.1109/ICMECH.2015.7083947
Matsunaga, Takuya ; Fau, Guillaume ; Kozuki, Ryohei ; Kazuki, Tanida ; Ohnishi, Kouhei. / Gripper's rotation of five DoF surgical robot by using coordinate transformation. Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 52-57
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