TY - GEN
T1 - Double hands manipulation with force sensation realized by multi DoF forceps robots
AU - Matsunaga, Takuya
AU - Fau, Guillaume
AU - Shimizu, Shuhei
AU - Tanida, Kazuki
AU - Mizoguchi, Takahiro
AU - Ohnishi, Kouhei
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015
Y1 - 2015
N2 - This paper presents the master-slave system which is composed of multi degrees of freedom (DoF) forceps robots. In minimally invasive surgery, there are some advantages for patients because incision is small. However, it is difficult for surgeons. Therefore, in order to support surgeons, surgical robots are studied and developed. Although conventional surgical robots have high position accuracy, the transmission of force sensation is not adequate. Therefore, two types of the five DoF surgical robot are developed to transmit force sensation. Force sensation can be transmitted by bilateral control. In this paper, the master-slave system with bilateral control is constructed. Two types of the five DoF surgical robot are used as two human hands. In the experiments, simple tasks are carried out and the transmission of force sensation is validated.
AB - This paper presents the master-slave system which is composed of multi degrees of freedom (DoF) forceps robots. In minimally invasive surgery, there are some advantages for patients because incision is small. However, it is difficult for surgeons. Therefore, in order to support surgeons, surgical robots are studied and developed. Although conventional surgical robots have high position accuracy, the transmission of force sensation is not adequate. Therefore, two types of the five DoF surgical robot are developed to transmit force sensation. Force sensation can be transmitted by bilateral control. In this paper, the master-slave system with bilateral control is constructed. Two types of the five DoF surgical robot are used as two human hands. In the experiments, simple tasks are carried out and the transmission of force sensation is validated.
UR - http://www.scopus.com/inward/record.url?scp=84973115823&partnerID=8YFLogxK
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U2 - 10.1109/IECON.2015.7392533
DO - 10.1109/IECON.2015.7392533
M3 - Conference contribution
AN - SCOPUS:84973115823
T3 - IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
SP - 2840
EP - 2845
BT - IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
Y2 - 9 November 2015 through 12 November 2015
ER -