TY - GEN
T1 - Haptic endoscopic surgery robot utilizing FPGA
AU - Tanaka, Hiroyuki
AU - Ohnishi, Kouhei
AU - Nishi, Hiroaki
AU - Kawai, Toshikazu
AU - Morikawa, Yasuhide
AU - Ozawa, Soji
AU - Furukawa, Toshiharu
PY - 2008
Y1 - 2008
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=63149198536&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=63149198536&partnerID=8YFLogxK
U2 - 10.1109/AMC.2008.4516135
DO - 10.1109/AMC.2008.4516135
M3 - Conference contribution
AN - SCOPUS:63149198536
SN - 9781424417032
T3 - International Workshop on Advanced Motion Control, AMC
SP - 601
EP - 606
BT - AMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings
T2 - 10th International Workshop on Advanced Motion Control, AMC'08
Y2 - 26 March 2008 through 28 March 2008
ER -