DocumentCode
1817963
Title
Biomedical micro robots driven by miniature cybernetic actuator
Author
Ikuta, Koji ; Nokata, Makoto ; Aritomi, Satoshi
Author_Institution
Dept. of Mech. Syst. Eng., Kyushu Inst. of Technol., Fukuoka, Japan
fYear
1994
fDate
1994
Firstpage
263
Lastpage
268
Abstract
New type of minimum invasive therapy in the abdominal cavity is proposed. For this purpose, hyper redundant active endoscope (hyper endoscope) should be developed. The first prototype of hyper endoscope driven by miniature cybernetic actuators is constructed and controlled successfully. Next, micro master slave control system with force feedback is verified by introducing “dither” technique. This system is very useful for remote surgery as well as micro surgery
Keywords
patient treatment; abdominal cavity; biomedical micro robots; force feedback; hyper redundant active endoscope; micro master slave control; micro surgery; miniature cybernetic actuator; minimum invasive therapy; remote surgery; Abdomen; Actuators; Cybernetics; Endoscopes; Force control; Master-slave; Medical treatment; Prototypes; Robots; Surgery;
fLanguage
English
Publisher
ieee
Conference_Titel
Micro Electro Mechanical Systems, 1994, MEMS '94, Proceedings, IEEE Workshop on
Conference_Location
Oiso
Print_ISBN
0-7803-1833-1
Type
conf
DOI
10.1109/MEMSYS.1994.555767
Filename
555767
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