Biomedical micro robots driven by miniature cybernetic actuator
Biomedical micro robots driven by miniature cybernetic actuator
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由微型控制论执行器驱动的生物医学微型机器人
DOI：
10.1109/memsys.1994.555767
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发表时间：
1994
期刊：
影响因子：
--
通讯作者：
S. Aritomi
中科院分区：
文献类型：
--
作者：
K. Ikuta;M. Nokata;S. Aritomi
提出了一种新型的腹腔微创治疗方法。为此，应开发超冗余主动内窥镜（hyper endoscopic）。成功地构建并控制了第一台由微型控制致动器驱动的超内窥镜样机。其次，通过引入“抖动”技术，对力反馈微主从控制系统进行了验证。该系统对于远程手术和显微手术都是非常有用的。
New type of minimum invasive therapy in the abdominal cavity is proposed. For this purpose, hyper redundant active endoscope (hyper endoscope) should be developed. The first prototype of hyper endoscope driven by miniature cybernetic actuators is constructed and controlled successfully. Next, micro master slave control system with force feedback is verified by introducing "dither" technique. This system is very useful for remote surgery as well as micro surgery.