20709 前立腺肥大症手術用マスタスレーブシステムの開発(医療福祉のメカトロニクス2,OS.16 医療福祉のメカトロニクス)

概要

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We have been developing the Master Slave System for TUR-P (Transurethral Resection of the Prostate) to aim at a doctor's reduction of incidence and infection prevention. This system consists of double master slave construction, one is arm system and the other is tool system. Arm system has 3 degrees of freedom and operates in a spherical orbit of variable radius. This system performs the attitude and position control of a tool system. A tool system has 2 degree of freedom and performs direction change and excision operation of a cautery knife. Each system contains the force sensor and reproduces the same feeling as under an operation by the force feedback control. In this paper, we describe the improvement of the slave tool and the gravity compensation method of the force feedback control in tool system.
一般社団法人日本機械学会の論文
2007-03-15