Haptic endoscopic surgery robot utilizing FPGA

Hiroyuki Tanaka, Kouhei Ohnishi, Hiroaki Nishi, Toshikazu Kawai, Yasuhide Morikawa, Soji Ozawa, Toshiharu Furukawa

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

8 Citations (Scopus)

Abstract

In late years, techniques and instruments for endoscopic surgery have been developed. The endoscopic surgery is a minimally invasive surgery, hence the Quality of Life (QOL) of patients can be improved. The endoscopic surgery still has, however, great difficulty for surgeons despite the development of the techniques and the instruments. To solve the problem, it has been studied to apply the technology of robotics to the endoscopic surgery. In this paper, a multi-degree of freedom haptic endoscopic surgery robot is developed aiming at the practical application of applying the robotics technology to the endoscopic surgery. The developed robot is a master-slave type robot, and a bilateral control system based on acceleration control is implemented. To achieve a short sampling period of the control calculation, FPGAs are utilized as processors. The validity of the developed robot is verified through some experimental results.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages601-606
Number of pages6
Volume1
DOIs
Publication statusPublished - 2008
Event10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy
Duration: 2008 Mar 262008 Mar 28

Other

Other10th International Workshop on Advanced Motion Control, AMC'08
CountryItaly
CityTrento
Period08/3/2608/3/28

Fingerprint

Haptics
Surgery
Field Programmable Gate Array
Field programmable gate arrays (FPGA)
Robot
Robots
Robotics
Minimally Invasive Surgery
Acceleration control
Quality of Life
Degree of freedom
Control System
Sampling
Control systems
Experimental Results

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Computer Science Applications
  • Modelling and Simulation

Cite this

Tanaka, H., Ohnishi, K., Nishi, H., Kawai, T., Morikawa, Y., Ozawa, S., & Furukawa, T. (2008). Haptic endoscopic surgery robot utilizing FPGA. In International Workshop on Advanced Motion Control, AMC (Vol. 1, pp. 601-606). [4516135] https://doi.org/10.1109/AMC.2008.4516135

Haptic endoscopic surgery robot utilizing FPGA. / Tanaka, Hiroyuki; Ohnishi, Kouhei; Nishi, Hiroaki; Kawai, Toshikazu; Morikawa, Yasuhide; Ozawa, Soji; Furukawa, Toshiharu.

International Workshop on Advanced Motion Control, AMC. Vol. 1 2008. p. 601-606 4516135.

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

Tanaka, H, Ohnishi, K, Nishi, H, Kawai, T, Morikawa, Y, Ozawa, S & Furukawa, T 2008, Haptic endoscopic surgery robot utilizing FPGA. in International Workshop on Advanced Motion Control, AMC. vol. 1, 4516135, pp. 601-606, 10th International Workshop on Advanced Motion Control, AMC'08, Trento, Italy, 08/3/26. https://doi.org/10.1109/AMC.2008.4516135
Tanaka H, Ohnishi K, Nishi H, Kawai T, Morikawa Y, Ozawa S et al. Haptic endoscopic surgery robot utilizing FPGA. In International Workshop on Advanced Motion Control, AMC. Vol. 1. 2008. p. 601-606. 4516135 https://doi.org/10.1109/AMC.2008.4516135
Tanaka, Hiroyuki ; Ohnishi, Kouhei ; Nishi, Hiroaki ; Kawai, Toshikazu ; Morikawa, Yasuhide ; Ozawa, Soji ; Furukawa, Toshiharu. / Haptic endoscopic surgery robot utilizing FPGA. International Workshop on Advanced Motion Control, AMC. Vol. 1 2008. pp. 601-606
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