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Kotaro Tadano,Kenji Kawashima 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2007 International Journal of Assistive Robotics and Me Vol.8 No.4
In the teleoperated minimally invasive surgery systems, measurement and display of sense of force to the operator is a problem. In this paper, a manipulator for supporting forceps has been developed which has 3-DOFs actuated by pneumatic cylinders. 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 masterslave system, we applied different impedance control to each manipulator. The force control type of impedance control is adopted from the measured pressures in the pneumatic cylinders without using force sensors at the slave manipulator. For the master manipulator, the motion control type of impedance control is implemented. The experimental results indicated that the operator could feel the force at the slave side to a satisfactory extent.
Development of a Pneumatically Driven Forceps Manipulator IBIS IV
Kotaro Tadano,Kenji Kawashima 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In the teleoperated minimally invasive surgery systems, measurement and display of sense of force to theoperator is a problem. We have proposed a pneumatic surgical manipulator that is capable of estimating external force,without the use of force sensors. However, the force estimation had a sensitivity of only 3[N] because of inertia andfriction effect. In this paper, we newly developed an improved model of the surgical manipulator IBIS IV to solve thisproblem. The base part of the forceps becomes compact and succeeded in reduce the weight. We conducted someexperiments including in-vivo experiment and confirmed that the effectiveness and improvement of the manipulator. Keywords: Medical Robots and Systems, Telerobotics, Force control, Pneumatic actuators