Medical mechatronics - An application to haptic forceps

Seiichiro Katsura, Wataru Iida, Kouhei Ohnishi

Research output: Contribution to journalArticlepeer-review

248 Citations (Scopus)


In this paper, a medical forceps system with tactile and force feedback ability desired by surgical robots is developed. Bilateral teleoperation systems can decompose into the common and the differential modes in acceleration based controller. The force servoing is attained in the common mode and the position error is regulated in the differential mode. In order to consider the conformity of force with position, the force servoing and the position regulator are integrated in the acceleration. The acceleration based controller is realized by using the disturbance observer. The disturbance observer makes a motion system to be an acceleration control system. In this paper, two evaluation indices of bilateral teleoperation are defined by analyzing 4ch matrix; "reproducibility" and "operationality". The forceps realizes wide frequency response for high force reproducibility. The experimental results show the viability of the proposed design and analysis methods.

Original languageEnglish
Pages (from-to)237-245
Number of pages9
JournalAnnual Reviews in Control
Issue number2
Publication statusPublished - 2005


  • Acceleration based control
  • Bilateral teleoperation
  • Disturbance observer
  • Haptic display
  • Haptics
  • Motion control
  • Robotic surgery
  • Transparency

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering


Dive into the research topics of 'Medical mechatronics - An application to haptic forceps'. Together they form a unique fingerprint.

Cite this