Development of a master slave system with force sensing using pneumatic servo system for laparoscopic surgery

被引：33

作者：

Tadano, Kodak ^{[1
]}

Kawashima, Kenji ^{[2
]}

机构：

[1] Tokyo Inst Technol, Interdisciplinary Grad Sch Sci & Engn, Tokyo 1528550, Japan

[2] Tokyo Inst Technol, Precis & Intelligence Lab, Tokyo 1528550, Japan

来源：

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年

关键词：

D O I：

10.1109/ROBOT.2007.363107

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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 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 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.

引用

页码：947 / 952

页数：6

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