TY - GEN
T1 - Construction of motion reproduction system using haptic forceps robots for needle insertion
AU - Matsunaga, Takuya
AU - Tomizuka, Daisuke
AU - Yu, Koyo
AU - Mizoguchi, Takahiro
AU - Ohnishi, Kouhei
N1 - Publisher Copyright:
© 2016 IEEE.
Copyright:
Copyright 2017 Elsevier B.V., All rights reserved.
PY - 2016/12/21
Y1 - 2016/12/21
N2 - In medical field, teleoperation robots for surgery have been studied and developed to support surgeons. Surgical tasks such as needle insertion and suturing are realized by multi degree of freedom (DoF) forceps robots which are a component of a surgical robot. Besieds, surgical robots have some advantages such as automation of tasks to reduce the burden to surgeons. Motion reproduction system is a method to automate tasks. The haptic data is used as the data of human motion for motion reproduction system. However, realization of tasks by using multi DoF robots as a motion reproduction system is still difficult. In this paper, in order to realize support for surgeons by automatic motion, needle insertion is realized by the haptic surgical robot composed of multi DoF haptic forceps robots. Experimental results show that the motion of operator was reproduced by using the haptic data, and automatic needle insertion based on motion reproduction system was achieved.
AB - In medical field, teleoperation robots for surgery have been studied and developed to support surgeons. Surgical tasks such as needle insertion and suturing are realized by multi degree of freedom (DoF) forceps robots which are a component of a surgical robot. Besieds, surgical robots have some advantages such as automation of tasks to reduce the burden to surgeons. Motion reproduction system is a method to automate tasks. The haptic data is used as the data of human motion for motion reproduction system. However, realization of tasks by using multi DoF robots as a motion reproduction system is still difficult. In this paper, in order to realize support for surgeons by automatic motion, needle insertion is realized by the haptic surgical robot composed of multi DoF haptic forceps robots. Experimental results show that the motion of operator was reproduced by using the haptic data, and automatic needle insertion based on motion reproduction system was achieved.
UR - http://www.scopus.com/inward/record.url?scp=85010029645&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85010029645&partnerID=8YFLogxK
U2 - 10.1109/IECON.2016.7793920
DO - 10.1109/IECON.2016.7793920
M3 - Conference contribution
AN - SCOPUS:85010029645
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 722
EP - 727
BT - Proceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society
PB - IEEE Computer Society
T2 - 42nd Conference of the Industrial Electronics Society, IECON 2016
Y2 - 24 October 2016 through 27 October 2016
ER -