T1501-1-3 触覚呈示機能を有するマイクロマニュピレータ用マスタースレイブシステム(マイクロ・ナノ技術のロボティクス応用(1))

概要

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This paper proposes master slave system with feedback haptic for micro manipulator using micromachine technology. This system consists of a slave device for micro manipulator and a master equipment for PHANToM with haptic feedback. The employed device is based on the principles of the PBA(Pneumatic Balloon Actuator). It is possible to design a small, soft and safe surgical tool by using PBA, which is made of PDMS(polydimethylsiloxane) and driven by pneumatic pressure. For example, we operate the retractor holds the abdominal organ to the side during the entire operation to keep the sight and operational space, dissects the mucosa under observing the submucosa in endoscopic surgery and outer shell actuator manipulate a forceps by controlling individual deformation of surrounding balloon. We report control method of operation and haptic feedback of these manipulators and cxaluation result.
一般社団法人日本機械学会の論文
2009-09-12