Development of 16-DOF telesurgical forceps master/slave robot with haptics

Wataru Motooka, Takahiro Nozaki, Takahiro Mizoguchi, Keisuke Sugawara, Fumiya Mitome, Keishi Okuda, Midori Miyagaki, Daisuke Yashiro, Takahiro Yakoh, Kouhei Ohnishi, Yasuhide Morikawa, Naoki Shimojima

研究成果: Conference contribution

9 被引用数 (Scopus)

抄録

Minimally invasive surgery (MIS) has attracted attention recently. MIS such as endoscopic surgery considers a patient's quality of life. In endoscopic surgeries, bilateral control systems are strongly required to apply. It is necessary to develop the multi Degrees Of Freedom (DOF) robot to achieve various operation procedures including endoscopic surgery. In this paper, 16-DOF haptic telesurgery master/slave robot is developed. This master/slave robot has two arms, and each arm has 8-DOF. The bilateral control using 4ch controller is implemented in the master/slave robot. Experiments of peeling motion and suturing motion are performed by a surgeon to evaluate the development robot.

本文言語English
ホスト出版物のタイトルProceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society
ページ2081-2086
ページ数6
DOI
出版ステータスPublished - 2010
イベント36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010 - Glendale, AZ, United States
継続期間: 2010 11 72010 11 10

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Other

Other36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010
CountryUnited States
CityGlendale, AZ
Period10/11/710/11/10

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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