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

手术机器人必须具备一定的触觉能力。本研究以主从式机器人触觉的实现为研究对象，通过与医生的密切合作，研制了基于主从式手术的钳子。首先定义了评价钳子触觉能力的性能指标，并以此为基础进行评价。将可操作性和重现性定义为指标。前一个指数代表操作员控制主手的流畅程度。后者包含两个内容。其一是从钳主体位的跟踪能力。二是主侧从钳反作用力的跟踪能力。这两个指标本身并不是同时实现的，因为前者是位置控制，后者是力控制。研究表明，理想位置控制具有无穷大的刚性和不确定的力输出。此外，理想的力控制具有零刚度和不确定位置…。更多n个输出。这两个控制不能在一个轴上同时实现。然而，主从侧都需要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的方法解决了这一问题。由于位置和力惯量比的二阶导数等于加速度，因此可以在加速度空间中设计位置跟踪和反力传递。研究表明，主从侧的所有变量都通过Hadamard矩阵转换为正空间和负空间。在最终报告中描述了每个控制器的具体设计过程，其中包括位置跟踪和反作用力感觉的独立设计。在实现中，主侧和从侧的摩擦越小越好。实验系统采用直线永磁电机。这个系统有一个自由度，可以将奴隶的力量传递给主人。系统响应范围从直流到200赫兹，可操作性很好。医生们对该系统进行了测试。盲测显示了奴隶侧反作用力的生动感受。这场成功的演出于2004年在报纸和NHK广播中被介绍。主要成果在2004年3月25日至3月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布，总主席是项目负责人。此外，还在里加的EPE-PEMC、悉尼的IFAC研讨会和釜山的ICASE上进行了受邀演讲。2005年3月2日举行了关于该项目的最后一次研讨会，揭开了该项目取得的各种成果。较少

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