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
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;
Conference_Titel :
Micro Electro Mechanical Systems, 1994, MEMS '94, Proceedings, IEEE Workshop on
Conference_Location :
Oiso
Print_ISBN :
0-7803-1833-1
DOI :
10.1109/MEMSYS.1994.555767
