Development of master-slave integrated haptic forceps based on bilateral control

Minoru Yokoyama, Takahiro Mizoguchi, Takuya Matsunaga, Tomoyuki Shimono, Kouhei Ohnishi

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

In recent years, minimally invasive surgery (MIS) has been developed in medical field. MIS is performed by inserting some tools such as forceps into holes made on a patient's body. MIS requires surgeons of skills and experiences because of the limited space to operate tools and the slight tactile sensation which the operator can feel through the forceps. To improve the performance of surgeons, this paper proposes novel haptic forceps based on bilateral control. Conventional haptic forceps robots are composed of the master robot operated by the operator and the slave robot set on the remote place. In the case of the proposed forceps, the master and the slave are integrated into a pair of forceps. Experimental results show that the proposed forceps can be used as well as normal forceps. The scaling function which is useful for the delicate operation and the data acquisition for motion analysis are also realized in the proposed forceps.

本文言語English
ホスト出版物のタイトル2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
出版社Institute of Electrical and Electronics Engineers Inc.
ページ743-748
ページ数6
ISBN(電子版)9781509059980
DOI
出版ステータスPublished - 2017 8月 21
イベント2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Germany
継続期間: 2017 7月 32017 7月 7

出版物シリーズ

名前IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
国/地域Germany
CityMunich
Period17/7/317/7/7

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • ソフトウェア

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