Haptic endoscopic surgery robot utilizing FPGA

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

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

12 Citations (Scopus)


In late years, techniques and instruments for endoscopic surgery have been developed. The endoscopic surgery is a minimally invasive surgery, hence the Quality of Life (QOL) of patients can be improved. The endoscopic surgery still has, however, great difficulty for surgeons despite the development of the techniques and the instruments. To solve the problem, it has been studied to apply the technology of robotics to the endoscopic surgery. In this paper, a multi-degree of freedom haptic endoscopic surgery robot is developed aiming at the practical application of applying the robotics technology to the endoscopic surgery. The developed robot is a master-slave type robot, and a bilateral control system based on acceleration control is implemented. To achieve a short sampling period of the control calculation, FPGAs are utilized as processors. The validity of the developed robot is verified through some experimental results.

Original languageEnglish
Title of host publicationAMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings
Number of pages6
Publication statusPublished - 2008
Event10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy
Duration: 2008 Mar 262008 Mar 28

Publication series

NameInternational Workshop on Advanced Motion Control, AMC


Other10th International Workshop on Advanced Motion Control, AMC'08

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering


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