TY - GEN
T1 - Gripper's rotation of five DoF surgical robot by using coordinate transformation
AU - Matsunaga, Takuya
AU - Fau, Guillaume
AU - Kozuki, Ryohei
AU - Kazuki, Tanida
AU - Ohnishi, Kouhei
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/4/9
Y1 - 2015/4/9
N2 - This paper presents a control method of gripper's rotation angle using the five degrees of freedom (DoF) surgical robot. Minimally invasive surgery has advantages for patients, but skills are required for surgeons and the demand to support by engineering is increasing. Therefore, surgical robots teleoperated by surgeons and operate patients are studied and developed. However, conventional surgical robots are not able to transmit force sense to operator adequately. Besides, there are mechanical problems caused by driving method and increased DoF. In order to overcome these problems, the five DoF surgical robot with z-translation, grasping, roll motion, pitch motion and yaw motion is developed. The rotation axes of roll, pitch and yaw motion cross a point and it is similar to human hand which can manage complex tasks. However, the roll motion of the five DoF surgical robot is different from the one of human hand because the all part inserted into human body is rotated by the roll motion. In this paper, a method to control the gripper's rotation angle by using coordinate transformation and control on workspace is proposed. The validity of the proposed method is verified by experiments.
AB - This paper presents a control method of gripper's rotation angle using the five degrees of freedom (DoF) surgical robot. Minimally invasive surgery has advantages for patients, but skills are required for surgeons and the demand to support by engineering is increasing. Therefore, surgical robots teleoperated by surgeons and operate patients are studied and developed. However, conventional surgical robots are not able to transmit force sense to operator adequately. Besides, there are mechanical problems caused by driving method and increased DoF. In order to overcome these problems, the five DoF surgical robot with z-translation, grasping, roll motion, pitch motion and yaw motion is developed. The rotation axes of roll, pitch and yaw motion cross a point and it is similar to human hand which can manage complex tasks. However, the roll motion of the five DoF surgical robot is different from the one of human hand because the all part inserted into human body is rotated by the roll motion. In this paper, a method to control the gripper's rotation angle by using coordinate transformation and control on workspace is proposed. The validity of the proposed method is verified by experiments.
UR - http://www.scopus.com/inward/record.url?scp=84929326968&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84929326968&partnerID=8YFLogxK
U2 - 10.1109/ICMECH.2015.7083947
DO - 10.1109/ICMECH.2015.7083947
M3 - Conference contribution
AN - SCOPUS:84929326968
T3 - Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
SP - 52
EP - 57
BT - Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 IEEE International Conference on Mechatronics, ICM 2015
Y2 - 6 March 2015 through 8 March 2015
ER -