Development of Actively-controllable endoscopic forceps

Keisuke Sugawara, Kouhei Ohnishi

研究成果: Conference contribution

抜粋

An endoscopic forceps is one of the efficient medical device in minimally invasive surgery. However, the endoscopic forceps has two big problems. First is the endoscopic forceps has friction, and it nonlinearly changes depend on posture of the endoscopic forceps. The friction cause deterioration of operation performance. Second is the endoscopic forceps has only 1-DOF for grasping motion. Therefore, in this paper, Actively-controllable endoscopic forceps is developed. This endoscopic forceps has 2-DOF which are for grasping motion and bending motion. By bending motion, the endoscopic forceps can keep or change posture by itself. In addition, friction associated with changing posture of the endoscopic forceps is modeled by least-square method. Finally, the friction models are applied to bilateral control system. Friction of the endoscopic forceps is compensated, and improvement of operational performance is achieved.

元の言語English
ホスト出版物のタイトルAbstracts - 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
DOI
出版物ステータスPublished - 2012 6 4
イベント2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012 - Sarajevo, Bosnia and Herzegovina
継続期間: 2012 3 252012 3 27

出版物シリーズ

名前International Workshop on Advanced Motion Control, AMC

Other

Other2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
Bosnia and Herzegovina
Sarajevo
期間12/3/2512/3/27

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • これを引用

    Sugawara, K., & Ohnishi, K. (2012). Development of Actively-controllable endoscopic forceps. : Abstracts - 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012 [6197041] (International Workshop on Advanced Motion Control, AMC). https://doi.org/10.1109/AMC.2012.6197041