Medical mechatronics - An application to haptic forceps

Koubei Ohnishi, Seiichiro Katsura, Wataru Iida

Research output: Contribution to journalConference articlepeer-review

8 Citations (Scopus)


The key-point of haptics is to realize a vivid presentation of reactive force, particularlly in applications that involve touching action. The goals of bilateral teleoperation are considered as the following two points. One is a reproduction of environmental impedance in master side. The other is a realization of small operational force. Corresponding to these goals, two novel evaluation indices are defined which are named "reproducibility" and "operationality". Bilateral controller based on the indices can be designed in the virtual mode space; common and differential modes. Our research group has successfully generated a good realization of reactive force for slave side at master side in bilateral force control. This haptic feedback has been implemented in the medical forceps. Proposed bilateral forceps system will be a fundamental technology for evolution of haptic devices.

Original languageEnglish
Pages (from-to)359-364
Number of pages6
JournalIFAC Proceedings Volumes (IFAC-PapersOnline)
Issue number14
Publication statusPublished - 2004
Event3rd IFAC Symposium on Mechatronic Systems 2004 - Sydney, Australia
Duration: 2004 Sept 62004 Sept 8


  • Bilateral control
  • Disturbance observer
  • Haptics
  • Motion control
  • Surgical robot
  • Transparency

ASJC Scopus subject areas

  • Control and Systems Engineering


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