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Yusuke Kamei,Chiharu Ishii 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
Recently, robotic surgical support systems are in clinical use for minimally invasive surgery. For improvement in operability of the minimally invasive surgery, development of haptic forceps teleoperation systems is required to help surgeon"s immersion and dexterity. Besides, motion scaling function which can adequately reduce and enlarge a movement of the forceps against a surgeon"s operation and a tactile sense to the surgeon under time delay, is necessary for safety. We have developed a multi-DOF robotic forceps manipulator using a novel omni-directional bending mechanism, so far. In this paper, such a passivity based bilateral control that enables motion scaling in both position tracking and force tracking is proposed for the developed robotic forceps teleoperation system with constant time delay. Experimental works were carried out and results showed the effectiveness of the proposed control scheme.
Preliminary Study of Needle Tracking in a Microsurgical Robotic System for Automated Operations
Yusuke Kurose,Young Min Baek,Yuya Kamei,Shinichi Tanaka,Kanako Harada,Shigeo Sora,Akio Morita,Naohiko Sugita,Mamoru Mitsuishi 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
Surgical needle tracking is an important element of high-level automated operations conducted by surgical robotic systems. However, conventional needle tracking algorithms lack robust performancewith different needle postures and are not applicable to the small needles used during microsurgery. This paper discusses a robust, efficient needle tracking algorithm, which is capable of estimating all of the positions and of the postures of a microsurgical needle. In the preoperative preparation stage, contour models of the microsurgical needle are generated using a 3-D CAD model and saved in a database. During the operation, the system extracts the contours of the microsurgical needle from the microscopic image using the edge and the color information. The system then calculates the likelihood of the contour models in the database bymatching the contours extracted fromthemicroscopic image. The experimental results indicated that our proposed method has high accuracy when tracking a microsurgical needle, and that it performed robustly with different needle postures.