Bilateral control in multi DOF haptic surgical robotic system utilizing FPGA

Hiroyuki Tanaka, Kouhei Ohnishi, Hiroaki Nishi, Toshikazu Kawai, Yasuhide Morikawa, Masaki Kitajima, Soji Ozawa, Toshiharu Furukawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)


Minimally invasive surgery is an important issue from the point of view of patients' Quality of Life (QoL). An endoscopic surgery is one of the minimally invasive surgeries. With the endoscopic surgery, pain could be less. This operation, however, has difficulty, and surgeons have to be well trained. To solve this problem, an endoscopic surgery system based on haptic teleoperation was proposed. The characteristic of the system is position and force information is transmitted bilaterally between master and slave robots. This means that a teleoperation with haptic information can be achieved, and surgeons can perform a telesurgery safely and smoothly. The system, however, does not have enough degrees of freedom for an actual operation. In this paper, a multi degrees of freedom endoscopic robotic system is proposed. This system has 6 degrees of freedom on each master and slave robot. A haptic control system implemented in the proposed system is based on acceleration control. Due to control in acceleration dimension, robust and ideal position and force control are able to be attained simultaneously. The control system requires a short sampling period for attainment of wide bandwidth to transmit keen force sensation. To ensure the short sampling period in a multi degrees of freedom system, this paper proposes the multi degrees of freedom tele-robotic system utilizing FPGA as a controller. Finally the validity of the proposed system is shown by experimental results.

Original languageEnglish
Title of host publication2007 IEEE International Symposium on Industrial Electronics, ISIE 2007, Proceedings
Number of pages6
Publication statusPublished - 2007 Dec 1
Event2007 IEEE International Symposium on Industrial Electronics, ISIE 2007 - Caixanova - Vigo, Spain
Duration: 2007 Jun 42007 Jun 7

Publication series

NameIEEE International Symposium on Industrial Electronics


Other2007 IEEE International Symposium on Industrial Electronics, ISIE 2007
CityCaixanova - Vigo

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


Dive into the research topics of 'Bilateral control in multi DOF haptic surgical robotic system utilizing FPGA'. Together they form a unique fingerprint.

Cite this