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

微创医疗用直线电机多自由度触觉钳系统的研制

基本信息

批准号：
17206027
负责人：
OHNISHI Kouhei
金额：
$ 31.45万
依托单位：
Keio University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (A)
财政年份：
2005
资助国家：
日本
起止时间：
2005 至 2007
项目状态：
已结题

项目摘要

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.

真实世界力觉/触觉的人工传递技术已经发展起来。该技术是触觉的关键，并吸引了很多关注。特别是，触觉机器人的发展，可以传递逼真的触觉感觉困难的手术已经成为一个紧迫的问题。多自由度（MDOF）触觉技术的发展的研究将是强制性的建立各种应用。在项目实施过程中，我们取得了以下成果：1.柔性作动器的开发：柔性作动器实现了多自由度系统的小型化和作动器的灵活配置。此外，一些多自由度遥手系统，实现了柔性驱动器的发展。通过实验验证了触觉传递能力.基于FPGA的高速并行计算系统的开发：高速采样的双向控制器实现了力觉的宽带传输.微/宏双边系统的开发：世界上第一个生物环境实验是通过双边触觉系统进行的。建立了大鼠各器官的支撑襻保存技术.基于离散傅立叶变换（DFT）的环境信息模态分解的建立：揭示了未知环境的空间信息可以表示为模态的积分。在所研制的多自由度遥操作手系统上的实验结果显示了巨大的潜力.多边控制理论的形成：多边控制理论的形成。提出了未来实现触觉技能训练、技能保存、触觉广播等应用的可能性，并在项目负责人组织的国际会议和最后的研讨会上介绍了主要成果。