Development of 16-DOF telesurgical forceps master/slave robot with haptics

Author

Motooka, Wataru ; Nozaki, Takahiro ; Mizoguchi, Takahiro ; Sugawara, Keisuke ; Mitome, Fumiya ; Okuda, Keishi ; Miyagaki, Midori ; Yashiro, Daisuke ; Yakoh, Takahiro ; Ohnishi, Kouhei ; Morikawa, Yasuhide ; Shimojima, Naoki

Author_Institution

Grad. Sch. of Sci. & Technol., Keio Univ., Yokohama, Japan

fYear

2010

fDate

7-10 Nov. 2010

Firstpage

2081

Lastpage

2086

Abstract

Minimally invasive surgery (MIS) has attracted attention recently. MIS such as endoscopic surgery considers a patient´s quality of life. In endoscopic surgeries, bilateral control systems are strongly required to apply. It is necessary to develop the multi Degrees Of Freedom (DOF) robot to achieve various operation procedures including endoscopic surgery. In this paper, 16-DOF haptic telesurgery master/slave robot is developed. This master/slave robot has two arms, and each arm has 8-DOF. The bilateral control using 4ch controller is implemented in the master/slave robot. Experiments of peeling motion and suturing motion are performed by a surgeon to evaluate the development robot.

Keywords

endoscopes; haptic interfaces; medical robotics; surgery; 16-DOF telesurgical forcep; bilateral control systems; degrees of freedom; endoscopic surgery; haptic telesurgery master-slave robot; minimally invasive surgery; peeling motion; suturing motion; Force; Grasping; Manipulators; Service robots; Surgery;

fLanguage

English

Publisher

ieee

Conference_Titel

IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society

Conference_Location

Glendale, AZ

ISSN

1553-572X

Print_ISBN

978-1-4244-5225-5

Electronic_ISBN

1553-572X

Type

conf

DOI

10.1109/IECON.2010.5675353

Filename

5675353