Development of Haptic Forceps System with Multi Degiees of Freedom by Linear Motors for Minimally Invasive Medicine
| Project/Area Number |
17206027
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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 |
電力工学・電気機器工学
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| Research Institution | Keio University |
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Principal Investigator |
OHNISHI Kouhei Keio University, Faculty of Science and Technology, Professor (80137984)
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| Co-Investigator(Kenkyū-buntansha) |
MORIKAWA Yasuhide Keio University, School of Medicine, Professor (90124958)
OZAWA Soji Fujita Health University, School of Medicine, Professor (10169287)
OHISHI Kiyoshi Nagaoka University of Technology, Department of Electrical Engineering, Professor (40185187)
NAKAZAWA Kazuo Keio University, Faculty of Science and Technology, Associate Professor (80217695)
NISHI Hiroaki Keio University, Faculty of Science and Technology, Associate Professor (00365470)
北島 政樹 慶應義塾大学, 医学部, 教授 (90112672)
古川 俊治 慶應義塾大学, 法務研究科, 助教授 (60219102)
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| Project Period (FY) |
2005 – 2007
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| Project Status |
Completed (Fiscal Year 2007)
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| Budget Amount *help |
¥49,140,000 (Direct Cost: ¥37,800,000、Indirect Cost: ¥11,340,000)
Fiscal Year 2007: ¥8,840,000 (Direct Cost: ¥6,800,000、Indirect Cost: ¥2,040,000)
Fiscal Year 2006: ¥20,540,000 (Direct Cost: ¥15,800,000、Indirect Cost: ¥4,740,000)
Fiscal Year 2005: ¥19,760,000 (Direct Cost: ¥15,200,000、Indirect Cost: ¥4,560,000)
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| Keywords | Endoscopic surgery / Laparoscopic surgery / Surgical robot / Haptic transmission / Haptics / Haptic forceps / Operationality / Transparency |
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| Research Abstract |
The artificial transmitting technology of real-world force/haptic sensation has been developed. This technology is a key for haptics and attracts much attention. In particular, the development of haptic robot which can transmit vivid haptic sensation for difficult surgery has been an emergent issue. This research on the development of multi degrees of freedom (MDOF) haptic technology will be mandatory for establishment of various applications. In the term of this project, we have obtained many achievements and some of them are as follows.
1. Development of Flexible Actuator : A flexible actuator realizes the downsizing of the MDOF system and the flexible allocation of actuators. In addition, some MDOF tele-hand systems which implement the flexible actuators are developed. Then, the ability of haptic transmission was verified experimentally.
2. Development of high speed parallel calculation system based on FPGAs : The bilateral controller with high speed sampling time brings wide-band haptic transmission.
3. Development of micro/macro bilateral system : The world's first experiments on a biological environment were conducted through bilateral haptic system. Then, the haptic preservation technique of each organs of a rat was established.
4. Establishment of modal decomposition of environmental information based on discrete Fourier transform (DFT) : It was revealed that the spatial information of the unknown environment can be expressed as the integration of modes. The experimental results on the developed MDOF tele-hand system have shown the big potentiality.
5. Theoretical formulation of multilateral control : Multilateral control theory was formulized. The future possibility for the achievement of some applications such as haptic skill training, skill preservation, haptic broadcasting and so on was presented.
The main results were presented at the international conference that the project leader organized and the final symposium.
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Report
(4 results)
Research Products
(127 results)
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[Presentation] Haptics for Medical Applications2008
Author(s)
Kouhei Ohnishi, Tomoyuki Shimono, Kenji Natori
Organizer
The 13th International Symposium on Artificial Life and Robotics, AROB '08
Place of Presentation
Beppu,Japan
Description
「研究成果報告書概要(和文)」より
Related Report
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[Presentation] Haptics for Medical Applications2008
Author(s)
Kouhei, Ohnishi, Tomoyuki, Shimono, Kenji, Natori
Organizer
The 13th International Symposium on Artificial Life and Robotics, AROB '08
Place of Presentation
Beppu, Japan
Description
「研究成果報告書概要(欧文)」より
Related Report
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[Presentation] Transmission of Force Sensation by Micro-Macro Bilateral Control with Scaling of Control Gains2008
Author(s)
Shigeru, Susa, Tomoyuki, Shimono, Takayoshi, Takei, Kouji, Atsuta, Naoki, Shimojima, Soji, Ozawa, Yasuhide, Morikawa, Kouhei, Ohnishi
Organizer
The IEEE 10th International Workshop on Advanced Motion Control, AMC '08
Place of Presentation
Trento, Italy
Description
「研究成果報告書概要(欧文)」より
Related Report
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[Presentation] Free Allocation of Actuator against End-Effector by Using Flexible Actuator2006
Author(s)
Koichiro Tsuji, Yujiro Soeda, Hiroyuki Nagatomi, Masaki Kitajima, Yasuhide Morikawa, Soji Ozawa, Toshiharu Furukawa, Yoshikazu Kawai, Kouhei Ohnishi
Organizer
The 9th IEEE International Workshop on Advanced Motion Control, AMC'06
Place of Presentation
Istanbul,Turkey
Description
「研究成果報告書概要(和文)」より
Related Report
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[Presentation] Robot as Physical Agent2006
Author(s)
Kouhei Ohnishi, Seiichiro Katsura, Tomoyuki Shimono
Organizer
IEEE International Conference on Industrial Technology, ICIT '06
Place of Presentation
Mumbai,India
Description
「研究成果報告書概要(和文)」より
Related Report
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[Presentation] Free Allocation of Actuator against End-Effector by Using Flexible Actuator2006
Author(s)
Koichiro, Tsuji, Yujiro, Soeda, Hiroyuki, Nagatomi, Masaki, Kitajima, Yasuhide, Morikawa, Soji, Ozawa, Toshiharu, Furukawa, Yoshikazu, Kawai, Kouhei, Ohnishi
Organizer
The 9th IEEE International Workshop on Advanced Motion Control, AMC '06
Place of Presentation
Istanbul, Turkey
Description
「研究成果報告書概要(欧文)」より
Related Report
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[Presentation] Robot as Physical Agent2006
Author(s)
Kouhei, Ohnishi, Seiichiro, Katsura, Tomoyuki, Shimono
Organizer
IEEE International Conference on Industrial Technology, ICIT '06
Place of Presentation
Mumbai, India
Description
「研究成果報告書概要(欧文)」より
Related Report
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[Book] ヒューマノイド工学2006
Author(s)
熊本 水頼、大西 公平, 他5名
Total Pages
229
Publisher
東京電機大学出版局
Description
「研究成果報告書概要(和文)」より
Related Report
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