1P1-G08 微細手術を目的とした5自由度マスタスレーブマニピュレータの開発(手術支援ロボティクス・メカトロニクス)

概要

論文の詳細を見る
Recently, the minimally invasive surgery attracts attention. And some surgical robots for the minimally invasive surgery are developed. In the abdominal cavity, it requires task complexity, so it takes a multi-DOF manipulator to do. It is a problem to multi-DOF manipulator to focus on end position. In this paper, it aims at development of Five-degree master-slave manipulator with closed loop structure. To make closed loop structure, it increases joint, so kinematics of manipulator complexify. To solve kinematics analyzes the characteristic of manipulator, and bilateral control is proposed to apply the characteristic. And manipulator and proposed method is effective by demonstration.
一般社団法人日本機械学会の論文
2007-05-11