微細手術における対象物判別のための可変インピーダンス型バイラテラル制御(機械力学,計測,自動制御)

概要

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Recently, laparoscopic microsurgery using master-slave system has been gotten a lot of attention. However, as the current system implemented is not capable of presenting haptic sense to operators, it places a large burden on operators. In addition, it is also necessary to enlarge the kinesthetic sense so that the operators can perceive small reactive force against a patient's body. The reactive force on the slave is minute in microsurgery. Therefore, it is necessary to expand the reactive force recognize the object. However, when the reactive force is expanded by a constant ratio, the distinction of the object becomes difficult. In this paper, in order to solve this problem, we propose variable impedance control. The bilateral control consists of contact mode and free motion mode. In the free motion mode, a constant impedance model is used. In the contact mode, estimate the impedance of the object and vary the control model. As a result, the characteristic of the object is clearly reproduced on the master, and the distinction of the object can be facilitated.
社団法人日本機械学会の論文
2008-06-25