TY - GEN
T1 - Development of high dexterity minimally invasive surgical system with augmented force feedback capability
AU - Takahashi, Hiroki
AU - Warisawa, Shin'ichi
AU - Mitsuishi, Mamoru
AU - Arata, Jumpei
AU - Hashizume, Makoto
PY - 2006/12/22
Y1 - 2006/12/22
N2 - For a laparoscopic surgery, master-slave type surgery assisting systems have been developed. It is expected that introducing force feedback for the master-slave system improves the operability. However, measurement of grasping or reacting force for the forceps is difficult, in particular, in case of a bending type forceps. Therefore, in the paper, a method to calculate the force applying on the tip of the forceps is proposed by measuring a force applying on the driving shafts of a link-type two directional bending forceps. Furthermore, a compensation method of influence of friction force is also described and measurement experiments of grasping and reacting force has been conducted to validate the proposed method. And force feedback is implemented to the master-slave system. Finally, the augmented display method of the force applied to forceps to an oprator is proposed.
AB - For a laparoscopic surgery, master-slave type surgery assisting systems have been developed. It is expected that introducing force feedback for the master-slave system improves the operability. However, measurement of grasping or reacting force for the forceps is difficult, in particular, in case of a bending type forceps. Therefore, in the paper, a method to calculate the force applying on the tip of the forceps is proposed by measuring a force applying on the driving shafts of a link-type two directional bending forceps. Furthermore, a compensation method of influence of friction force is also described and measurement experiments of grasping and reacting force has been conducted to validate the proposed method. And force feedback is implemented to the master-slave system. Finally, the augmented display method of the force applied to forceps to an oprator is proposed.
UR - http://www.scopus.com/inward/record.url?scp=33845585431&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33845585431&partnerID=8YFLogxK
U2 - 10.1109/BIOROB.2006.1639100
DO - 10.1109/BIOROB.2006.1639100
M3 - Conference contribution
AN - SCOPUS:33845585431
SN - 1424400406
SN - 9781424400409
T3 - Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
SP - 284
EP - 289
BT - Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
T2 - 1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Y2 - 20 February 2006 through 22 February 2006
ER -