Development of Mechanical System for Force Feedback of the Endoscopic Surgical Robot
| Project/Area Number |
18560125
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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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 | Iwate University |
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Principal Investigator |
SHIMACHI Shigeyuki Iwate University, Iwate University, Faculty ofEngineering, Professor (90005356)
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| Co-Investigator(Kenkyū-buntansha) |
HAGIWARA Yoshihiro Faculty ofEngineering, 工学部, Associate Professor (80293009)
HASHIMOTO Akira Faculty of Engineering, 工学部, Research Assistant (90003871)
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| Project Period (FY) |
2006 – 2007
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| Project Status |
Completed (Fiscal Year 2007)
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| Budget Amount *help |
¥3,860,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥360,000)
Fiscal Year 2007: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2006: ¥2,300,000 (Direct Cost: ¥2,300,000)
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| Keywords | Low Invasive Surgery / Laparoscopic Surgery / Surgical Robot / Haptic Feedback / Force Feedback / Overcoat Method / Instrument End Force Feedback / Grip Force Feedback |
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| Research Abstract |
In endoscopic surgery, surgeons operate using specially designed instruments in a patient's body. Here, the surgeon is significantly constrained with respect to the loss of direct visual information and intuitive operations. Surgical robot systems have developed and substantially reduced these constraints. However, at present, haptic feedback is not available in the robot systems.
The authors proposed a new method, named the "overcoat method," in which the instrument/driver is supported by force sensors. Some sensor configuration styles of the overcoat method have been tried in order to develop an actual force sensing system.
The main objects of this research are to clarify the arrangement method of the instrument/driver and the mechanism design points, to try the bilateral control on the motion/force of the tip end of the instrument and on the grip motion/force of the instrument jaws, and to clarify the design problems.
In the overcoat method, the instrument is mounted on a floating fram
… More
e which is supported by some force sensors based on a base frame. As one of the configuration style, instrument driving motors are tried to be placed on the floating frame (Zeus style), and as another style, on the base frame (da Vinci style). In each style, it is cleared that the frame deformation by the drivers has great effects on the force sensor, and there is an appropriate place for the force sensors. Moreover, this research cleared that the da Vinci style is possible and has various advantages.
Moreover, as for the bilateral control of the tip end of the instrument and that of the jaws'' grip force of a simple disposable forceps, it is clarified to be able to evade the unstable vibration phenomenon by arranging the compliance of the organ/instrument and the surgeon's hand and by reducing the movement ratio between the master robot and the slave robot. However, in a multi degree of freedom forceps, it is cleared that the large frictional force on the bend part makes large hysteresis and it difficult to measure the correct grip force of the jaws. Less
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Report
(3 results)
Research Products
(20 results)
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[Presentation] Force Feedback System for Operation Robot2008
Author(s)
Shinpei Shinohara, Shigeyuki Shimachi, Akira Hashimoto, Yoshihiro Hagiwara, Yoshihide Hakozaki
Organizer
JSME 43^<rd> annual meeting of Tohoku branch
Place of Presentation
Sendai, Tohoku University
Year and Date
2008-03-15
Description
「研究成果報告書概要(欧文)」より
Related Report
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[Presentation] Force Feedback System for Operation Robot2007
Author(s)
Makoto Nakamura, Yoshihide Hakozaki, Shigeyuki Shimachi, Akira Hashimoto, Yoshihiro Hagiwara, Michio Sato
Organizer
JSME Conference on Robotics and Mechatronics
Place of Presentation
Akita, ALVE
Description
「研究成果報告書概要(欧文)」より
Related Report
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