Title :
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
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;
Conference_Titel :
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location :
Victoria, BC
Print_ISBN :
0-7803-4465-0
DOI :
10.1109/IROS.1998.727421
