| Project/Area Number |
15206017
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| Research Category |
Grant-in-Aid for Scientific Research (A)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Design engineering/Machine functional elements/Tribology
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| Research Institution | National University Corporation Tokyo University of Agriculture and Technology |
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Principal Investigator |
TOYAMA Shigeki National University Corporation Tokyo University of Agriculture and Technology, Graduate School, Institute of Symbiotic Science and Technology, Division of Systems and Information Technology, Professor, 大学院・共生科学技術研究部, 教授 (20143381)
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| Co-Investigator(Kenkyū-buntansha) |
UMEDA Norihiro National University Corporation Tokyo University of Agriculture and Technology, Graduate School, Institute of Symbiotic Science and Technology, Division of Systems and Information Technology, Professor, 大学院・共生科学技術研究部, 教授 (60111803)
KUWABARA Toshihiko National University Corporation Tokyo University of Agriculture and Technology, Graduate School, Institute of Symbiotic Science and Technology, Division of Systems and Information Technology, Professor, 大学院・共生科学技術研究部, 教授 (60195609)
NAGAI Masao National University Corporation Tokyo University of Agriculture and Technology, Graduate School, Institute of Symbiotic Science and Technology, Division of Systems and Information Technology, Professor, 大学院・共生科学技術研究部, 教授 (10111634)
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| Project Period (FY) |
2003 – 2005
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| Project Status |
Completed (Fiscal Year 2005)
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| Budget Amount *help |
¥32,110,000 (Direct Cost: ¥24,700,000、Indirect Cost: ¥7,410,000)
Fiscal Year 2005: ¥9,750,000 (Direct Cost: ¥7,500,000、Indirect Cost: ¥2,250,000)
Fiscal Year 2004: ¥9,750,000 (Direct Cost: ¥7,500,000、Indirect Cost: ¥2,250,000)
Fiscal Year 2003: ¥12,610,000 (Direct Cost: ¥9,700,000、Indirect Cost: ¥2,910,000)
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| Keywords | Surgical assist robot / Spherical motor / High power / Miniaturization / MRI compatibility / Master-slave / Phase difference control / MRIコンパチブル / MRI対応牲 / 光ファイバセンシング / 手術用ロボット / ロータ / ステータ / 小型サンドイッチ型モータ / 圧電素子 |
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| Research Abstract |
A surgical robot system was developed and evaluated. The robot arms compose of a spherical ultrasonic motor (SUSM) as the actuator and a position sensing system using optical fibers. The system compose of a motor driver, the master-slave type robot, and the control software.
1.A manipulator using a SUSM was developed. Compared with conventional ultrasonic motors, the novel SUSM's size is one-thirds to quarter. the SUSM demonstrated a good responsibility and high positioning accuracy. the SUSM's maximum torque and rotational speed are 3.7mNm and 62 rpm, respectively. The position sensing system using optical fibers was evaluated. The results shows that the positioning accuracy is less than 0.1mm. Thus, the feasibility of the surgical manipulator was demonstrated.
2.The motor driver using the phase difference control was developed for the safety of the surgical robot and the protection of the miss motion error. An auto following function of the phase difference allowed the robot system to control the torque in safety. The vibration of the robot arm has been eliminated by the driver and the control method. A prototype master-slave robot system was developed. The system employed the bilateral mechanism, and the ultrasonic motors are used at the master mechanism. Therefore, the force at the hand is transferred to the master-hand quickly and accurately. On the other hand, the MRI compatibility was tested in An MRI environment. Good MRI images was obtained for medical diagnosis.
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