| 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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| 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
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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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