Haptic endoscopic surgery robot utilizing FPGA

Hiroyuki Tanaka, Kouhei Ohnishi, Hiroaki Nishi, Toshikazu Kawai, Yasuhide Morikawa, Soji Ozawa, Toshiharu Furukawa

研究成果: Conference contribution

8 引用 (Scopus)

抜粋

In late years, techniques and instruments for endoscopic surgery have been developed. The endoscopic surgery is a minimally invasive surgery, hence the Quality of Life (QOL) of patients can be improved. The endoscopic surgery still has, however, great difficulty for surgeons despite the development of the techniques and the instruments. To solve the problem, it has been studied to apply the technology of robotics to the endoscopic surgery. In this paper, a multi-degree of freedom haptic endoscopic surgery robot is developed aiming at the practical application of applying the robotics technology to the endoscopic surgery. The developed robot is a master-slave type robot, and a bilateral control system based on acceleration control is implemented. To achieve a short sampling period of the control calculation, FPGAs are utilized as processors. The validity of the developed robot is verified through some experimental results.

元の言語English
ホスト出版物のタイトルAMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings
ページ601-606
ページ数6
DOI
出版物ステータスPublished - 2008
イベント10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy
継続期間: 2008 3 262008 3 28

出版物シリーズ

名前International Workshop on Advanced Motion Control, AMC
1

Other

Other10th International Workshop on Advanced Motion Control, AMC'08
Italy
Trento
期間08/3/2608/3/28

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

    Tanaka, H., Ohnishi, K., Nishi, H., Kawai, T., Morikawa, Y., Ozawa, S., & Furukawa, T. (2008). Haptic endoscopic surgery robot utilizing FPGA. : AMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings (pp. 601-606). [4516135] (International Workshop on Advanced Motion Control, AMC; 巻数 1). https://doi.org/10.1109/AMC.2008.4516135