A master-slave manipulation system with a force-feedback function for endoscopic surgery
A master-slave manipulation system with a force-feedback function for endoscopic surgery
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一种具有力反馈功能的内窥镜手术主从操纵系统
DOI：
10.1109/iembs.2001.1019571
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发表时间：
2001
期刊：
影响因子：
--
通讯作者：
K. Mabuchi
中科院分区：
文献类型：
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作者：
T. Hoshino;H. Ishigaki;Y. Konishi;K. Kondo;T. Suzuki;T. Saito;N. Kakuta;A. Wagatsuma;K. Mabuchi
开发了一种用于内窥镜手术的具有力反馈功能的主从操纵系统。从操纵系统位于机器人手臂系统的头部，使用能够通过直流电机驱动装置打开和关闭的镊子系统。主机械手涉及机械链接系统，其结构和规模与从机械臂系统相同。利用与主从操纵系统具有相同力反馈机制的一自由度台架测试系统对系统的价值进行了实验验证。虽然当使用力反馈系统（简单的力反射伺服控制器）操作主机械手时系统变得振荡和不稳定，但通过添加阻抗项（改进的力反射伺服控制器）改进力反馈系统可以使系统稳定。
A master-slave manipulation system with a force-feedback function was developed for endoscopic surgery. The slave manipulation system, which is located at the head of a robot arm system, uses a forceps system which is capable of being opened and closed by a DC motor-driven arrangement. The master manipulator involves a mechanical link system which has the same structure and scale as the slave robot-arm system. The value of this system was verified experimentally using a bench-test system with one degree of freedom which has the same force-feedback mechanism as the master-slave manipulation system. Although the system became oscillatory and unstable when the master manipulator was operated using a force feedback system (simple force reflection servo controller), it was possible to make the system stable improving the force feedback system by adding impedance term (improved force reflection servo controller).