Development of a haptic palpation device with a scaling bilateral control for the NOTES surgery

Kenji Ogawa, Kouhei Ohnishi

研究成果: Conference contribution

抄録

This paper proposes a haptic palpation device for a NOTES surgery. A proposed device is consisted on a linear actuator and a flexible wire filled with liquid. A mechanical principle is based on an Electro-Hydraulic Transmission System(EHTS). The EHTS is transmitted to the position and force by using liquid energy. As one of the advantages of the EHTS, the transmission performance of the EHTS does not depend on the wire's posture. In this research, a scaling bilateral control is implemented to the EHTS based palpation probe. By this proposed device, an operator can feel a reaction force from the bio-tissue. The validity of a proposed device is confirmed by experiments.

本文言語English
ホスト出版物のタイトルProceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017
出版社Institute of Electrical and Electronics Engineers Inc.
ページ93-98
ページ数6
ISBN(電子版)9781509045389
DOI
出版ステータスPublished - 2017 5月 6
イベント2017 IEEE International Conference on Mechatronics, ICM 2017 - Gippsland, Australia
継続期間: 2017 2月 132017 2月 15

Other

Other2017 IEEE International Conference on Mechatronics, ICM 2017
国/地域Australia
CityGippsland
Period17/2/1317/2/15

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 機械工学
  • 制御と最適化

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