Microsurgical telerobot system

Author

Kwon, Dong-Soo ; Woo, Ki Young ; Song, Se Kyong ; Kim, Wan Soo ; Cho, Hyung Suck

Author_Institution

Dept. of Mech. Eng., Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea

Volume

2

fYear

1998

fDate

13-17 Oct 1998

Firstpage

945

Abstract

A microsurgical telerobot system has been developed according to the results of the microsurgery task analysis. Several fields of the microsurgery have been investigated and the surgery tasks and tool motions are analyzed to acquire guidelines for specifications of a microsurgical telerobot system. A slave robot system consists of a 6-DOF parallel micromanipulator, that is our own modified Stewart platform type, and a 6-DOF macro-motion industrial robot that mounts the parallel micromanipulator at the end. A 6-DOF force-reflecting master device has also been developed using five-bar parallel mechanisms driven by harmonic DC servomotors. A bilateral control algorithm has been proposed based on the force-position loop, and the local position controller for the master has been developed to minimize the effect of gravity, friction, and inertia

Keywords

DC motor drives; industrial robots; medical robotics; micromanipulators; servomotors; surgery; telerobotics; 6-DOF force-reflecting master device; 6-DOF macro-motion industrial robot; 6-DOF parallel micromanipulator; bilateral control algorithm; five-bar parallel mechanisms; force-position loop; friction; gravity; harmonic DC servomotors; inertia; microsurgery task analysis; microsurgical telerobot system; modified Stewart platform; parallel micromanipulator; slave robot system; surgery; tool motions; Electrical equipment industry; Force control; Guidelines; Micromanipulators; Microsurgery; Motion analysis; Parallel robots; Service robots; Servomotors; Surgery;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on

Conference_Location

Victoria, BC

Print_ISBN

0-7803-4465-0

Type

conf

DOI

10.1109/IROS.1998.727421

Filename

727421