Development of high dexterity minimally invasive surgical system with augmented force feedback capability

Hiroki Takahashi; Shin'ichi Warisawa; Mamoru Mitsuishi; Jumpei Arata; Makoto Hashizume

doi:10.1109/BIOROB.2006.1639100

Development of high dexterity minimally invasive surgical system with augmented force feedback capability

Hiroki Takahashi, Shin'ichi Warisawa, Mamoru Mitsuishi, Jumpei Arata, Makoto Hashizume

Advanced Medical Intiatives

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

17 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Pages	284-289
Number of pages	6
DOIs	https://doi.org/10.1109/BIOROB.2006.1639100
Publication status	Published - Dec 22 2006
Event	1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 - Pisa, Italy Duration: Feb 20 2006 → Feb 22 2006

Publication series

Name	Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Volume	2006

Other

Other	1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Country	Italy
City	Pisa
Period	2/20/06 → 2/22/06

All Science Journal Classification (ASJC) codes

Engineering(all)

Access to Document

10.1109/BIOROB.2006.1639100

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Takahashi, H., Warisawa, S., Mitsuishi, M., Arata, J., & Hashizume, M. (2006). Development of high dexterity minimally invasive surgical system with augmented force feedback capability. In Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 (pp. 284-289). [1639100] (Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006; Vol. 2006). https://doi.org/10.1109/BIOROB.2006.1639100

Development of high dexterity minimally invasive surgical system with augmented force feedback capability. / Takahashi, Hiroki; Warisawa, Shin'ichi; Mitsuishi, Mamoru; Arata, Jumpei; Hashizume, Makoto.

Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006. 2006. p. 284-289 1639100 (Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006; Vol. 2006).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Takahashi, H, Warisawa, S, Mitsuishi, M, Arata, J & Hashizume, M 2006, Development of high dexterity minimally invasive surgical system with augmented force feedback capability. in Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006., 1639100, Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006, vol. 2006, pp. 284-289, 1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006, Pisa, Italy, 2/20/06. https://doi.org/10.1109/BIOROB.2006.1639100

Takahashi H, Warisawa S, Mitsuishi M, Arata J, Hashizume M. Development of high dexterity minimally invasive surgical system with augmented force feedback capability. In Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006. 2006. p. 284-289. 1639100. (Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006). https://doi.org/10.1109/BIOROB.2006.1639100

Takahashi, Hiroki ; Warisawa, Shin'ichi ; Mitsuishi, Mamoru ; Arata, Jumpei ; Hashizume, Makoto. / Development of high dexterity minimally invasive surgical system with augmented force feedback capability. Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006. 2006. pp. 284-289 (Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006).

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