Development of a Master-Slave System with Force-Sensing Abilities using Pneumatic Actuators for Laparoscopic Surgery
Development of a Master-Slave System with Force-Sensing Abilities using Pneumatic Actuators for Laparoscopic Surgery
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DOI：
10.1163/016918610x522559
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发表时间：
2010-01-01
影响因子：
2
通讯作者：
Kawashima, Kenji
中科院分区：
文献类型：
--
作者：
Tadano, Kotaro;Kawashima, Kenji
在微创远距离外科系统中，显示在从动侧测量的力是一个重要的问题。能够准确感受到施加在奴隶一侧的力是很重要的。本文描述了一种7自由度的从动机械手。由最新设计和开发的气动执行器驱动，用于微创手术。然后，利用我们开发的主控设备构建了一个主从式系统。在系统中，我们对每个机械手应用了不同的阻抗控制。气动从机械手采用了无力传感器的力控型阻抗控制。对于主机械手，我们使用了运动控制型的阻抗控制。实验结果表明，操作者在从动侧感受到力的不确定度约为1.5N，验证了所设计的力反馈系统的有效性。(C)Koninklijke Brill NV，Leiden和日本机器人学会，2010年
In minimally invasive telesurgical systems, displaying the forces measured at the slave side is an important issue. The ability to accurately feel the force being applied at the slave side is important. This paper describes a slave manipulator, which has 7 d.o.f. and is driven by pneumatic actuators, newly designed and developed for use in minimally invasive surgery. Then, a master-slave system is constructed using the master device we have developed. In the system, we applied a different impedance control for each manipulator. We adopted a force-control type of impedance control without a force sensor for the pneumatic slave manipulator. For the master manipulator, we used a motion-control type of impedance control. The experimental results indicate that the operator feels the force at the slave side with an uncertainty of about 1.5 N. The effectiveness of the force feedback using the developed system is demonstrated. (c) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2010