Identification method of environmental stiffness using haptic forceps for brain surgery

Mika Aoki, Tomoyuki Shimon, Takuya Matsunaga, Takahiro Mizoguchi, Shunsuke Shibao, Hikaru Sasaki, Kouhei Ohnishi

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

In surgical field, a technique of haptic transmission solves various problems such as limitation of visual field in minimally invasive surgery (MIS), operation mistakes, and so on. Generally, haptic transmission is used in large-scale robots whose end-effector is located in the remote side from the operator. In order to naturally utilize the technique of haptic transmission, it should be implemented in the tools which are frequently used by surgeons. This paper proposes a master-slave integrated haptic forceps like a pincet. The identification method of the environmental stiffness that the developed forceps contacts is proposed in order to consider the safety of operation. Assuming neurosurgery, the experiments using imitation models of brain tissue verified that the slight difference of the stiffness between a healthy tissue and a tumor can be recognized. Experimental results showed that the proposed forceps can be operated properly and the environmental stiffness is measured accurately. It also showed that by the scaling method of the bilateral control system, the identifications of the environmental stiffness became clearer.

本文言語English
ホスト出版物のタイトルAIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
出版社Institute of Electrical and Electronics Engineers Inc.
ページ207-212
ページ数6
ISBN(印刷版)9781538618547
DOI
出版ステータスPublished - 2018 8 30
イベント2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018 - Auckland, New Zealand
継続期間: 2018 7 92018 7 12

出版物シリーズ

名前IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
2018-July

Other

Other2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018
国/地域New Zealand
CityAuckland
Period18/7/918/7/12

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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