Double hands manipulation with force sensation realized by multi DoF forceps robots

Takuya Matsunaga, Guillaume Fau, Shuhei Shimizu, Kazuki Tanida, Takahiro Mizoguchi, Kouhei Ohnishi

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

This paper presents the master-slave system which is composed of multi degrees of freedom (DoF) forceps robots. In minimally invasive surgery, there are some advantages for patients because incision is small. However, it is difficult for surgeons. Therefore, in order to support surgeons, surgical robots are studied and developed. Although conventional surgical robots have high position accuracy, the transmission of force sensation is not adequate. Therefore, two types of the five DoF surgical robot are developed to transmit force sensation. Force sensation can be transmitted by bilateral control. In this paper, the master-slave system with bilateral control is constructed. Two types of the five DoF surgical robot are used as two human hands. In the experiments, simple tasks are carried out and the transmission of force sensation is validated.

本文言語English
ホスト出版物のタイトルIECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
出版社Institute of Electrical and Electronics Engineers Inc.
ページ2840-2845
ページ数6
ISBN(電子版)9781479917624
DOI
出版ステータスPublished - 2015
イベント41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan
継続期間: 2015 11 92015 11 12

出版物シリーズ

名前IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society

Other

Other41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
国/地域Japan
CityYokohama
Period15/11/915/11/12

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 産業および生産工学

フィンガープリント

「Double hands manipulation with force sensation realized by multi DoF forceps robots」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル