Joint study on the masterslave robot for prostate operations

柴浦工业大学和英国皇家工业大学以“前列腺手术主从机器人的联合研究”为主题进行了这项研究的联合研究。我们将具体的研究结果描述如下。该机器人由远程控制的主机器人和被操作的从机器人组成。机器人大师用一个操纵杆就可以轻松地操作医生。主机器人以1个自由度的主臂建立从机器人的轨迹控制。从机器人通过近距离建立具有7个自由度的多关节机械手来完成一个手术台。在机器人手臂点安装力矩传感器，实现了力的检测，建立了控制力反馈的基本技术。我们制作了一种2自由度的切割工具，它结合了内窥镜和切割工具的实验目的是切割前列腺的内部。通过寻找力，我们可以把它加到切削工具上。我们建立了测量距离的基本技术，从议程的大小变化到三个坐标的操作，我们改变了前后的内窥镜。建立了以主从为1自由度控制7自由度从机器人的基本技术方法。建立了基于光纤传感器的力搜索方法的基本技术。本研究的基本进展已经完成。我们将在未来通过进一步的国际联合研究来促进发展。

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.