Joint study on the masterslave robot for prostate operations

柴浦理工学院和皇家理工学院以联合研究的方式进行了本研究的《前列腺手术主从机器人的联合研究》。具体的研究成果如下：1.该机器人由进行远程控制的主机器人和操作的从机器人组成。机器人大师用操纵杆做到了这一点，可以很容易地操作医生。主机器人建立了主臂为1自由度的从机器人的轨迹控制。从动机器人通过就近建立7自由度的多关节操纵器进行手术。在机器人臂端安装力矩传感器以检测力，并建立了控制力反馈的基础技术，以掌握机器人。我们研制了一种2自由度的切割工具，实验上将内窥镜与切割工具相结合，用于切割前列腺内侧。我们有可能通过寻找更多的力量来增加切割工具。建立了从议程大小变化到三维坐标操作距离的基本测量技术，改变了内窥镜前后的距离。建立了用1自由度主从控制7自由度从机器人的方法的基本技术。建立了基于光纤传感器的测力方法的基础技术，完成了本研究的基础性发展。我们将在未来通过进一步的国际联合学习来促进发展。

Shibaura Institute of Technology and Royal Institute of Technology went with "Joint study on the masterslave robot for prostate operations" of this study by a joint study. We discribe concrete study result to the following.This robot consists of master robot doing remote control and slave robot operated on.1. Master robot did it with a joystick by can operate a doctor easily. Master robot established the trajectory control of slave robot with master arm of 1 dgree of freedom.2. Slave robot did an operating table with the multijoint manupulators which had 7 dgrees of freedom by establishing in near. We installed torque sensor to robot arm point in order to detect force and established fundamental technology to control force feedback to master robot.3. We produced a cutting tool of 2 degrees of freedom that combined endscope with a cutting tool experimentally in order to cut the insidie of a prostate. We were possible by search of force to be added to a cutting tool.4. We established fundamental technology to measure distance from size of agenda changing to operation of three dimensions of coordinates we changed endscope in front and back.5. We established fundamental technology of method to control slave robot of 7 degrees of freedom with masterslave of 1 degree of freedom.6. We established fundamental technology of search method of force that used optical fiber sensor.The fundamental development of this study was finished. We are to promote development by a further international joint study in future.