Construction of motion reproduction system using haptic forceps robots for needle insertion

Takuya Matsunaga, Daisuke Tomizuka, Koyo Yu, Takahiro Mizoguchi, Kouhei Ohnishi

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

In medical field, teleoperation robots for surgery have been studied and developed to support surgeons. Surgical tasks such as needle insertion and suturing are realized by multi degree of freedom (DoF) forceps robots which are a component of a surgical robot. Besieds, surgical robots have some advantages such as automation of tasks to reduce the burden to surgeons. Motion reproduction system is a method to automate tasks. The haptic data is used as the data of human motion for motion reproduction system. However, realization of tasks by using multi DoF robots as a motion reproduction system is still difficult. In this paper, in order to realize support for surgeons by automatic motion, needle insertion is realized by the haptic surgical robot composed of multi DoF haptic forceps robots. Experimental results show that the motion of operator was reproduced by using the haptic data, and automatic needle insertion based on motion reproduction system was achieved.

本文言語English
ホスト出版物のタイトルProceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society
出版社IEEE Computer Society
ページ722-727
ページ数6
ISBN(電子版)9781509034741
DOI
出版ステータスPublished - 2016 12月 21
イベント42nd Conference of the Industrial Electronics Society, IECON 2016 - Florence, Italy
継続期間: 2016 10月 242016 10月 27

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Other

Other42nd Conference of the Industrial Electronics Society, IECON 2016
国/地域Italy
CityFlorence
Period16/10/2416/10/27

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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