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Development of Haptic Realization in Minimally Invasive Medicine Including Endoscopic Surgery Using Linear Actuators

使用线性执行器的内窥镜手术等微创医学中触觉实现的发展

基本信息

批准号：
14205041
负责人：
OHNISHI Kouhei
金额：
$ 33.7万
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：
2002
资助国家：
日本
起止时间：
2002 至 2004
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-14205041/
关键词：
Endoscopic surgery Laparoscopic surgery Surgical robot Tactile sense Haptics Reproducibility Operationality Transparency

项目摘要

The haptic ability is required for surgical robot. This research has focused on realization of tactile sensation in the master-slave robot.By intimate collaboration with medical doctors, the forceps based on master-slave operation was developed. At first, the performance indices for haptic ability was defined since evaluation on forceps should be based on them. The operationality and the reproducibility have been defined as indices. The former index represents how smoothly the operator can control the master hand. The latter contains two contents. One is tracking ability of master position at slave forceps. The other is tracking ability of reactive force of slave forceps at master side. These two indices inherently are not realized at once, since the former is position control and the latter is force control. This research clarified that the ideal position control has infinite stiffiness and indefinite force output. Also the ideal force control has zero stiffness and indefinite positio … More n output. These two controls can not be realized at once in one axis. However both the master side and the slave side require the position tracking and the force tracking at once.The research solved this problem by synthesizing the controllers in the acceleration space. Since the second derivative of the position and the force-inertia ratio is acceleration together, it is possible to design the position tracking and the reaction force transmission in the acceleration space. This research clarified that all the variables in the master and the slave side are transformed into the plus space and the minus space by the Hadamard matrix. The concrete procedure to design each controller is described in the final report where the independent design of the position tracking and the reactive force sensation are shown. In the implementation, the less friction in both the master side and the slave side is preferable. The liner permanent magnet motor is employed for the experimental system. This system has one degree-of freedom to transmit the slave force to the master. The operationality is very good since the system response covers the wide frequency range from dc to 200Hz. The system was tested by the medical doctors. The blind test has shown the vivid sensation of the reactive force of the slave side. The successful performance was introduced in the newspaper and the NHK broadcasting in 2004. The main results were open at the IEEE International Workshop on Advance Motion Control held in Kawasaki International Center from March 25 to March 28, 2004., where the General Chair was the project leader. Also the invited lectures were give at the EPE-PEMC in Riga, IFAC Symposium in Sydney and ICASE in Busan. The final symposium on this project was held on March 2^<nd>, 2005 to open the various results obtained in this project. Less

手术机器人需要具有触觉能力。本研究以主从式机器人为研究对象，通过与医生的密切合作，开发出基于主从式操作的手术钳。首先，定义了触觉能力的性能指标，因为镊子的评价应该基于它们。以可操作性和可重复性为指标。前一个指数代表操作员控制主手的平稳程度。后者包含两个内容。一个是主位置在从夹钳处的跟踪能力。另一个是主侧从钳反作用力的跟踪能力。这两个指标本质上不能同时实现，因为前者是位置控制，后者是力控制。阐明了理想位置控制具有无穷大刚度和不确定力输出。理想力控制具有零刚度和位置不确定性. ...更多信息 n输出。这两个控制不能在一个轴上同时实现。但主从控制器都要求同时进行位置跟踪和力跟踪，本研究通过在加速度空间综合控制器来解决这一问题。由于位置和力-惯性比的二阶导数是加速度，因此可以在加速度空间中设计位置跟踪和反作用力传递。本研究阐明，所有的变量在主，从侧转换到正空间和负空间的阿达玛矩阵。设计每个控制器的具体过程在最终报告中描述，其中示出了位置跟踪和反作用力感觉的独立设计。在该实施方式中，主侧和从侧中的摩擦越小越好。实验系统采用直线永磁电机。该系统具有一个自由度，可以将从力传递给主力。由于系统响应范围从直流到200 Hz，因此可操作性非常好。该系统由医生测试。盲测显示了从侧反作用力的生动感觉。2004年，在报纸和NHK广播中介绍了成功的表演。主要成果于2004年3月25日至28日在川崎国际中心举行的IEEE先进运动控制国际研讨会上公开。总主席是项目负责人此外，还应邀在里加的EPE-PEMC、悉尼的IFAC专题讨论会和釜山的ICASE上发表了演讲。2005年3月2日举行了关于该项目的最后一次研讨会<nd>，公开了该项目取得的各种成果。少