Development of Haptic Forceps System with Multi Degiees of Freedom by Linear Motors for Minimally Invasive Medicine

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The artificial transmitting technology of real-world force/haptic sensation has been developed. This technology is a key for haptics and attracts much attention. In particular, the development of haptic robot which can transmit vivid haptic sensation for difficult surgery has been an emergent issue. This research on the development of multi degrees of freedom (MDOF) haptic technology will be mandatory for establishment of various applications. In the term of this project, we have obtained many achievements and some of them are as follows.1. Development of Flexible Actuator : A flexible actuator realizes the downsizing of the MDOF system and the flexible allocation of actuators. In addition, some MDOF tele-hand systems which implement the flexible actuators are developed. Then, the ability of haptic transmission was verified experimentally.2. Development of high speed parallel calculation system based on FPGAs : The bilateral controller with high speed sampling time brings wide-band haptic transmission.3. Development of micro/macro bilateral system : The world's first experiments on a biological environment were conducted through bilateral haptic system. Then, the haptic preservation technique of each organs of a rat was established.4. Establishment of modal decomposition of environmental information based on discrete Fourier transform (DFT) : It was revealed that the spatial information of the unknown environment can be expressed as the integration of modes. The experimental results on the developed MDOF tele-hand system have shown the big potentiality.5. Theoretical formulation of multilateral control : Multilateral control theory was formulized. The future possibility for the achievement of some applications such as haptic skill training, skill preservation, haptic broadcasting and so on was presented.The main results were presented at the international conference that the project leader organized and the final symposium.