Title :
Keynote paper — Real world haptics applied to forceps in robot surgery
Author :
Sakaino, Sho ; Abeykoon, A. M Harsha S ; Ohnishi, Kouhei
Author_Institution :
Dept. of Syst. Design Eng., Keio Univ., Yokohama, Japan
Abstract :
This paper presents the technological achievements in realizing the force feedback in surgical robots. No force sensor is used in sensing the force. Disturbance observer and its variant, reaction torque observer is used to detect the force. Bilateral control is used to transmit vivid sensations from the forceps end to the surgeon.
Keywords :
force control; force feedback; medical robotics; surgery; bilateral control; disturbance observer; force feedback; forceps; reaction torque observer; real world haptics; robot surgery; surgical robot; Force; Force feedback; Force sensors; Motion control; Robot sensing systems; Surgery; Bilateral control; Disturbance observer; Robot assisted surgery;
Conference_Titel :
Information and Automation for Sustainability (ICIAFs), 2010 5th International Conference on
Conference_Location :
Colombo
Print_ISBN :
978-1-4244-8549-9
DOI :
10.1109/ICIAFS.2010.5715726
