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

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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