1P1-G11 力覚提示機能を有する空気圧駆動鉗子を用いた腹腔鏡手術用マスタースレーブシステムの開発(手術支援ロボティクス・メカトロニクス)

概要

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In the teleoperated minimally invasive surgery systems, measurement and display of sense of force to the operator is a problem. In this paper, a 7DOF forceps manipulator as slave has been developed using pneumatic actuators. We also developed a master manipulator using a delta mechanism and a gimbal mechanism with a force sensor and motors with reduction gears. In the developed master-slave system, we applied different impedance control to each manipulator. The force control type of impedance control is adopted without force sensor for the pneumatic slave manipulator. For the master manipulator admittance control is implemented. The experimental results indicated that the operator could feel the force at the slave side to a satisfactory extent.
2007-05-11