TY - GEN
T1 - Development of 16-DOF telesurgical forceps master/slave robot with haptics
AU - Motooka, Wataru
AU - Nozaki, Takahiro
AU - Mizoguchi, Takahiro
AU - Sugawara, Keisuke
AU - Mitome, Fumiya
AU - Okuda, Keishi
AU - Miyagaki, Midori
AU - Yashiro, Daisuke
AU - Yakoh, Takahiro
AU - Ohnishi, Kouhei
AU - Morikawa, Yasuhide
AU - Shimojima, Naoki
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=78751517774&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=78751517774&partnerID=8YFLogxK
U2 - 10.1109/IECON.2010.5675353
DO - 10.1109/IECON.2010.5675353
M3 - Conference contribution
AN - SCOPUS:78751517774
SN - 9781424452262
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 2081
EP - 2086
BT - Proceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society
T2 - 36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010
Y2 - 7 November 2010 through 10 November 2010
ER -