Development of a Pneumatic Surgical Manipulator IBIS IV
Development of a Pneumatic Surgical Manipulator IBIS IV
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DOI：
10.20965/jrm.2010.p0179
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发表时间：
2010-04-01
影响因子：
1.1
通讯作者：
Tanaka, Naofumi
中科院分区：
文献类型：
--
作者：
Tadano, Kotaro;Kawashima, Kenji;Tanaka, Naofumi
在远程操作的微创手术系统中，力的感觉的测量和向操作者的传送是有问题的。为了使用机器人操作器进行更安全和更精确的操作，力测量和操作员反馈是非常重要的因素。我们以前提出了一种气动手术机械手，能够估计外力，而不使用力传感器。然而，由于惯性和摩擦效应，力估计的灵敏度仅为3N。在本文中，我们开发了一个新的和改进的模型的气动手术机械手，IBIS IV。我们评估其性能方面的力量估计。实验结果表明，IBIS IV估计外力的灵敏度为1.0 N。我们还进行了在体实验，并确认的有效性和改进的机械手。
In teleoperated, minimally invasive surgery systems, the measurement and conveyance of a sense of force to the operator is problematic. In order to carry out safer and more precise operations using robotic manipulators, force measurement and operator feedback are very important factors. We previously proposed a pneumatic surgical manipulator that is capable of estimating external force without the use of force sensors. However, the force estimation had a sensitivity of only 3 N because of inertia and friction effects. In this paper, we develop a new and improved model of the pneumatic surgical manipulator, IBIS IV. We evaluate its performance in terms of force estimation. The experimental results indicate that IBIS IV estimates external forces with a sensitivity of 1.0 N. We also conduct an in-vivo experiment and confirm the effectiveness and improvement of the manipulator.