Bilateral control considering interference with environment for microsurgery

Recently, robot systems which support surgery are actively developed. Especially, microsurjery has attracted attention of people in recent years. However, as current surgery support system cannot present force sense to operators, it is difficult to use pratically. Accordingly, there are many active studies on bilateral control. In bilateral control, the slave follows to the master and the master presents the reaction force that the slave receives. Using bilateral control, it will be possible to present force sense to reduce the movement of hands and to perform save microsurgery. In this paper, it aims at developing of the technology for the transmission of force sense in surgery support system. Bilateral control which conbines position control and impeadance control is proposed for tasks of moving object with two fingered master slave system. Gain of position control and impeadance control can be changed according to the ratio of internal force between master slave system and environment. The force response of the position control and impedance control, and variable gain were confirmed by the experiment.