Joint study on the masterslave robot for prostate operations

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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.