A Trial of micro-surgery system based on multi-axis force to stereo sound information transformation method

本研究开发了具有手术环境信息传输能力的远程显微手术系统。该系统由以下组件组成：（i）具有固定操作点的从机械手，（ii）具有固定视点的视觉信息获取系统，以及（iii）具有力矩不反馈的特征的主机械手。为了通过操作者的任意意图操作一对镊子和针来执行显微外科手术，“具有固定操作点的从操纵器”包括用于大范围运动的粗机构、用于高精度的精机构和旋转自由度，其中所有旋转轴在工具的尖端相交。因为所有的设备，包括从机械手和视觉信息系统必须共享有限的空间周围的小物体，正在处理的系统，每个机构应被限制在一个圆锥形的空间。因此，执行器必须位于外部 ...更多信息 机构的一侧，执行机构的运动通过平行连杆机构传递。“固定视点视觉信息采集系统”具有以下特点：移动操作点的平移精细机构，从任意方向获得视觉信息的旋转机构，将旋转中心保持在视野中，用于任意放大率的变焦功能，照明设备，其布置应确保其不干扰操作、具有大范围运动能力和紧凑性，以便为操纵器留出空间。对于主操纵器，必须具备以下功能：旋转和平移自由度的分离，力信息在微观世界中的增强呈现功能，用于抓针的镊子的保持功能，当操作者不操作时的姿态保持功能，以及减少自由度的约束功能。如果在系统中假设工具的尖端是固定的，则仅产生平移力而不产生力矩。因此，仅平移力需要反馈到力反馈型主操纵器。分别采用旋转环和正交组合直线导轨实现旋转自由度和平移自由度，将上述技术有机结合，成功锯切了直径为4mm的软物体。少

This research has developed a tele-micro-surgery system with operational environment information transmission capability. The system consists of the following components : (i) a slave manipulator with a fixed operational point, (ii) a visual information acquisition system with a fixed visual point, and (iii) a master manipulator with a feature that moments are not fed back.To perform micro-surgery by handling a pair of tweezers and needles as an operator's arbitrary intention, the "slave manipulator with a fixed operational point" consists of rough mechanism for wide range motion, fine mechanism for high precision and rotational degrees of freedom where all axs of rotation intersect at the tip of the tool. Because all apparatus, including the slave manipulators and the visual information system must share the limited space around the small object that is being handled by the system, each mechanism should be confined to a conical space. Therefore, actuators must be located at the outer … More side of the mechanism and the motion of the actuator is transmitted though parallel link mechanism.The "visual information acquisition system with a fixed visual point" has the following features : translational fine mechanism to move the operation point, rotational mechanism to get visual information from an arbitrary direction, keeping the center of the rotation in the visual field, zoom function for arbitrary magnification ratio, lighting equipment which is arranged so that it does not disturb the operation, wide range motion ability, and compactness to leave room for manipulators.For the master manipulator the following functions are necessary : separation of rotational and translational degrees of freedom, augmented presentation function of force information in the micro world, holding function of tweezers for grasping a needle, posture keeping function when an operator is not handling, and constraint function to reduce the degrees of freedom. If it is assumed in the system that the tip of the tool is fixed, only translational force will occer and the moment is not generated. Therefore, only the translational force need be fed back to the force feedback type master manipulator. The rotational and translational degrees of freedom are realized by the combination of rotation rings and orthogonally combined linear guides, respectively.By connecting the technologies mentioned above organically, a soft object with the diameter of 4mm was successfully sawed. Less