Control of surgical robot system for tele-operation considering the communication delay and its safety assessment

• Project/Area Number: 21360114
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Tokyo Institute of Technology
• Principal Investigator: KAWASHIMA Kenji 東京工業大学, 精密工学研究所, 准教授 (40300553)
• Co-Investigator(Kenkyū-buntansha): TADANO Kotaro 東京工業大学, 精密工学研究所, 助教 (90523663)
• Project Period (FY): 2009 – 2011
• Project Status: Completed (Fiscal Year 2011)
• Budget Amount: ¥19,240,000 (Direct Cost: ¥14,800,000、Indirect Cost: ¥4,440,000); Fiscal Year 2011: ¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000); Fiscal Year 2010: ¥6,500,000 (Direct Cost: ¥5,000,000、Indirect Cost: ¥1,500,000); Fiscal Year 2009: ¥8,840,000 (Direct Cost: ¥6,800,000、Indirect Cost: ¥2,040,000)
• Keywords: 手術ロボット / 遠隔制御 / バイラテラル制御 / 安全評価 / 内視鏡手術 / 通信規格 / 安全性評価 / 腹腔鏡手術

Research Abstract

Forceps manipulator driven by pneumatic artificial rubber muscles(PARM) having 2 degrees of freedom at the tip was developed for minimally invasive tele-surgery. Estimation of force at the tip from the model of PARM has improved the accuracy to 0. 5N from 1. 0N(former type) by light weight. Master-slave system with the forceps was developed and a proposed bilateral control was implemented to the system. The safety and effectiveness of the system was confirmed with experiments including Japan-US tele-operation

Research Products

• [Journal Article] Achieving Haptic Perception in Forceps Manipulator using Pneumatic Artificial Muscle (2013)
  • Author(s): Li Hongbing, Kenji Kawashima, Kotaro Tadano, et.al.
  • Journal Title: IEEE/ASME Transactions on Mechatronics Volume: (掲載確定) Issue: 1 Pages: 74-85
  • DOI: 10.1109/tmech.2011.2163415
  • Peer Reviewed
• [Journal Article] Development of a pneumatic surgical manipulator IBIS IV (2010)
  • Author(s): Kotaro Tadano, Kenji Kawashima, Kojima Kazuyuki, Tanaka Naofumi
  • Journal Title: Journal of Robotics and Mechatronics Volume: Vol.22No.2 Pages: 179-187
  • Peer Reviewed
• [Journal Article] Development of a Master Slave System with Force-Sensing Abilities Using Pneumatic Actuators for Laparoscopic Surgery (2010)
  • Author(s): Kotaro Tadano, Kenji Kawashima
  • Journal Title: Advanced Robotics Volume: Vol.24, No.12 Pages: 1763-1783
  • NAID: 10027464949
  • Peer Reviewed
• [Journal Article] Development of Coarse/Fine Dual Stages using Pneumatically Driven Bellows Actuator and Cylinder with Air Bearings (2010)
  • Author(s): Kenji Kawashima, Takeshi Arai, Kotaro Tadano, Toshinori Fujita, Toshiharu Kagawa
  • Journal Title: Precision Engineering Volume: 34 Pages: 526-533
  • Peer Reviewed
• [Journal Article] Development of a pneumatic surgical manipulator IBIS IV (2010)
  • Author(s): Kotaro Tadano, Kenji Kawashima,
  • Journal Title: Journal of Robotics and Mechatronics (In press)
  • Peer Reviewed
• [Journal Article] 空気圧駆動を用いた力覚提示機能を有する多自由度鉗子の開発 (2009)
  • Author(s): 只野耕太郎, 住野亘, 川嶋健嗣
  • Journal Title: 日本ロボット学会誌 27-5 Pages: 538-545
  • NAID: 10024790485
  • Peer Reviewed
• [Journal Article] Achieving Haptic Perceptionin Forceps Manipulator using Pneumatic Artificial Muscle
  • Author(s): Hongbing Li, Kotaro Tadano, Kenji Kawashima
  • Journal Title: IEEE/ASME Transactions on Mechatronics Volume: (Accepted)
  • Peer Reviewed
• [Journal Article] 柔軟関節を用いた空気圧駆動鉗子マニピュレータの開発(先端屈曲機構の簡略化と外力推定)
  • Author(s): 原口大輔, 只野耕太郎, 川嶋健嗣
  • Journal Title: 日本フルードパワーシステム学会論文集 Volume: (掲載確定)
  • NAID: 10030483462
  • Peer Reviewed
• [Presentation] Master Slave Robot System for Laparoscopic Surgery with Haptic Perception using Pneumatic Actuators (2011)
  • Author(s): Kenji Kawashima, Kotaro Tadano
  • Organizer: Proceedings of the 8th JFPS International Symposium on Fluid Power
  • Place of Presentation: Key Note Speech
  • Year and Date: 2011-11-26
• [Presentation] 力覚を有する手術支援ロボットの開発 (2011)
  • Author(s): 川嶋健嗣
  • Organizer: 第13回耳鼻咽喉科手術支援システム・ナビ研究会
  • Place of Presentation: 東京医科歯科大学(招待講演)
  • Year and Date: 2011-11-26
• [Presentation] Model-Based Passivity Control for Teleoperation of Robots with Force Display (2011)
  • Author(s): Hongbing LI, Kenji Kawashima, Kotaro Tadano, Mustapha Fofana
  • Organizer: 2011 ASME International Mechanical Engineering Congress and Exposition
  • Place of Presentation: Denver (USA)
  • Year and Date: 2011-11-15
• [Presentation] 超弾性合金ワイヤのプッシュ・プル機構を用いた空気圧駆動鉗子マニピュレータの開発 (2011)
  • Author(s): 原口大輔, 只野耕太郎, 川嶋健嗣
  • Organizer: 第12回流体計測制御シンポジウム
  • Place of Presentation: 東京工業大学
  • Year and Date: 2011-11-15
• [Presentation] 力覚提示機能を有する手術支援ロボットシステム (2011)
  • Author(s): 川嶋健嗣
  • Organizer: 日本機械学会第三(東海)地区特別講演会メディカル・ロボティクス
  • Place of Presentation: 名古屋工業大学(招待講演)
  • Year and Date: 2011-11-11
• [Presentation] Development of a Pneumatically-Driven Forceps Manipulator Using a Flexible Joint (2011)
  • Author(s): Daisuke Haraguchi, Kotaro Tadano, Kenji Kawashima
  • Organizer: The 8th JFPS International Symposium on Fluid Power
  • Place of Presentation: 沖縄コンベンションセンター
  • Year and Date: 2011-10-27
• [Presentation] Master Slave Robot System for Laparoscopic Surgery with Haptic Perception using Pneumatic Actuators (2011)
  • Author(s): Kenji Kawashima, Kotaro Tadano
  • Organizer: The 8th JFPS International Symposium on Fluid Power
  • Place of Presentation: 沖縄コンベンションセンター(招待講演)
  • Year and Date: 2011-10-26
• [Presentation] A Prototype of Pneumatically-Driven Forceps Manipulator with Force Sensing Capability Using a Simple Flexible Joint (2011)
  • Author(s): Daisuke Haraguchi, Kotaro Tadano, Kenji Kawashima
  • Organizer: Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  • Place of Presentation: San Francisco (USA)
  • Year and Date: 2011-09-27
• [Presentation] 柔軟関節を用いた空気圧駆動鉗子マニピュレータの開発 (2011)
  • Author(s): 原口大輔, 只野耕太郎, 川嶋健嗣
  • Organizer: 第12回「運動と振動の制御」シンポジウム(MOVIC2011)
  • Place of Presentation: メルパルク長野
  • Year and Date: 2011-06-30
• [Presentation] 術者が力覚を感じる内視鏡手術ロボット (2011)
  • Author(s): 川嶋健嗣,只野耕太郎
  • Organizer: 日本泌尿器科学会雑誌
  • Year and Date: 2011-04-24
• [Presentation] 術者が力覚を感じる内視鏡手術ロボット (2011)
  • Author(s): 川嶋健嗣, 只野耕太郎
  • Organizer: 日本泌尿器科学会
  • Place of Presentation: 名古屋国際会議場
  • Year and Date: 2011-04-24
• [Presentation] 遠隔手術用ロボットシステム (2010)
  • Author(s): Kenji Kawashima
  • Organizer: IEEE ICRA Workshop on Medical Cyber-Physical Systems
  • Place of Presentation: 静岡
  • Year and Date: 2010-12-17
• [Presentation] Development of a light-weight Forceps Manipulator using Pneumatic Artificial Rubber Muscle for Sensor-free Haptic Feedback (2010)
  • Author(s): Hongbing Li, Shameek Ganguly, Sumire Nakano, Kotaro Tadano, Kenji Kawashima
  • Organizer: 1st International Conference on Applied Bionics and Biomechanics
  • Year and Date: 2010-10-16
• [Presentation] Development of a light-weight Forceps Manipulator using Pneumatic Artificial Rubber Muscle for Sensor-free Haptic Feedback (2010)
  • Author(s): Hongbing Li, Shameek Ganguly, Sumire Nakano, Kotaro Tadano, Kenji Kawashima
  • Organizer: International Conference on Applied Bionics and Biomechanics
  • Place of Presentation: イタリア ベニス
  • Year and Date: 2010-10-15
• [Presentation] アドミタンス提示型ハプティックインタフェースの安定性に関する研究 (2010)
  • Author(s): 佐藤慶明, 只野耕太郎, 川嶋健嗣
  • Organizer: 第28回日本ロボット学会学術講演会
  • Place of Presentation: 名古屋
  • Year and Date: 2010-09-22
• [Presentation] 腹腔鏡手術ロボットにおける操作対象への誘導制御 (2010)
  • Author(s): 崔唆銘, 只野耕太郎, 川嶋健嗣
  • Organizer: 第28回日本ロボット学会学術講演会
  • Place of Presentation: 名古屋
  • Year and Date: 2010-09-22
• [Presentation] 力覚提示機能を有する手術用ロボットの操作性に関する研究 (2010)
  • Author(s): 小宮みずき, 只野耕太郎, 川嶋健嗣, 小嶋一幸, 田中直文
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会'10
  • Place of Presentation: 旭川
  • Year and Date: 2010-06-14
• [Presentation] Master Slave Surgical Robot with Force Display using Pneumatic Servo System (2010)
  • Author(s): 川嶋健嗣
  • Organizer: 第24回光通信システムシンポジウム
  • Place of Presentation: 米国 アラスカ
  • Year and Date: 2010-05-07
• [Presentation] Plugfest 2009 : Global Interoperability in Telerobotics and Telemedicine (2010)
  • Author(s): H.Hawkeye King, Blake Hannaford, Kotaro Tadano, Kenji Kawashima, et.al.
  • Organizer: IEEE ICRA2010
  • Place of Presentation: 米国 アラスカ
  • Year and Date: 2010-05-05
• [Presentation] 空気圧ゴム人工筋をスレーブ駆動に用いた腹腔鏡手術用マスタスレーブシステム (2010)
  • Author(s): 川嶋健嗣,只野耕太郎,中野すみれ,小嶋一幸,田中直文
  • Organizer: 日本医工学治療学会第26回学術大会
  • Year and Date: 2010-04-03
• [Presentation] 空気圧ゴム人工筋をスレーブ駆動に用いた腹腔鏡手術用マスタスレーブシステム (2010)
  • Author(s): 川嶋健嗣, 只野耕太郎, 中野すみれ, 小嶋一幸, 田中直文
  • Organizer: 日本医工学治療学会第26回学術大会
  • Place of Presentation: 東京
  • Year and Date: 2010-04-03
• [Presentation] 遠隔対応型腹腔鏡手術用マスタ・スレーブロボットシステム (2009)
  • Author(s): 川嶋健嗣, 只野耕太郎, 新井豪, 小宮みずき, 小嶋一幸, 田中直文
  • Organizer: 第2回医歯工学イノベーション・シンポジウム
  • Place of Presentation: 東京
  • Year and Date: 2009-11-28
• [Presentation] Bilateral Teleoperation with Time Delay using Modified Wave Variable Based Controller (2009)
  • Author(s): Kenji Kawashima, Kotaro Tadano, Mustapha Fofana
  • Organizer: ASME IMECE09
  • Year and Date: 2009-11-18
• [Presentation] Robotics Systems using Pneumatic Actuators for Teleoperation (2009)
  • Author(s): Kenji Kawashima
  • Organizer: ASME IMECE09
  • Year and Date: 2009-11-18
• [Presentation] Robotics Systems using Pneumatic Actuators for Teleoperation (2009)
  • Author(s): Kenji Kawashima
  • Organizer: ASME IMECE 09
  • Place of Presentation: 米国 フロリダ
  • Year and Date: 2009-11-18
• [Presentation] Preliminary Protocol for Interoperable Telesurgery (2009)
  • Author(s): H.Hawkeye King, Kotaro Tadano, Regina Donlin, Diana Friedman, Mitchel J.H.Lum, Victoria Asch, Cong Wang, Kenji Kawashima, Blake Hannaford
  • Organizer: Proc.Intl.Conf.on Advanced Robotics
  • Place of Presentation: ドイツ ミュンヘン
  • Year and Date: 2009-06-26
• [Presentation] Blake Hannaford, Preliminary Protocol for Interoperable Telesurgery (2009)
  • Author(s): H. Hawkeye King, Kotaro Tadano, Regina Donlin, Diana Friedman, Mitchel J. H. Lum, Victoria Asch, Cong Wang, Kenji Kawashima
  • Organizer: Proceedings Intl. Conf. on Advanced Robotics,(ICAR09)
  • Year and Date: 2009-06-23
• [Presentation] 空気圧駆動手術用マニピュレータIBIS IVの開発 (2009)
  • Author(s): 只野耕太郎, 川嶋健嗣, 小嶋一幸, 田中直文
  • Organizer: 日本機械学会ロボティクス・メカトロニコス講演会
  • Place of Presentation: 福岡
  • Year and Date: 2009-05-24
• [Presentation] Bilateral Teleoperation with Time Delay using Modified Wave Variable Based Controller (2009)
  • Author(s): Kenji Kawashima, Kotaro Tadano, Cong Wang, GaneshSankaranarayanan, Blake Hannaford
  • Organizer: Proc.of IEEE ICRA
  • Place of Presentation: 神戸
  • Year and Date: 2009-05-15
• [Presentation] Development of a Pneumatically Driven Forceps Manipulator IBIS IV (2009)
  • Author(s): Kotaro Tadano, Kenji Kawashima
  • Organizer: ICROS-SICE International Joint Conference
  • Place of Presentation: 福岡
  • Year and Date: 2009-05-15
• [Presentation] Ganesh Sankaranarayanan, Blake Hannaford, Bilateral Teleoperation with Time Delay using Modified Wave Variable Based Controller (2009)
  • Author(s): Kenji Kawashima, Kotaro Tadano, Cong Wang
  • Organizer: Proc. of IEEE ICRA
  • Year and Date: 2009-04-16
• [Remarks] 川嶋健嗣,只野耕太郎,佐藤慶明,手術支援ロボ小型化,日刊工業新聞,平成22年11月10日16面
  • URL: http://www.k-k.pi.titech.ac.jp/researches/robots/
• [Remarks]
  • URL: http://www.k-k.pi.titech.ac.jp/
• [Remarks]
  • URL: http://www.k-k.pi.titech.ac.jp/research/robot_j.html
• [Remarks]
  • URL: http://www.k-k.pi.titech.ac.jp/research/robot_j.html
• [Patent(Industrial Property Rights)] 力算出システム (2012)
  • Inventor(s): 川嶋健嗣,只野耕太郎,原口大輔
  • Industrial Property Rights Holder: 東京工業大学
  • Filing Date: 2012-04-20
  • Overseas
• [Patent(Industrial Property Rights)] 力算出システム (2011)
  • Inventor(s): 川嶋健嗣,只野耕太郎,原口大輔
  • Industrial Property Rights Holder: 東京工業大学
  • Filing Date: 2011-04-26
• [Patent(Industrial Property Rights)] 手術用撮像システム及び手術用ロボット (2011)
  • Inventor(s): 川嶋健嗣, 只野耕太郎
  • Industrial Property Rights Holder: 東京工業大学
  • Filing Date: 2011-04-20
• [Patent(Industrial Property Rights)] 力算出システム (2011)
  • Inventor(s): 川嶋健嗣, 只野耕太郎, 原口大輔
  • Industrial Property Rights Holder: 東京工業大学
  • Filing Date: 2011-04-26
• [Patent(Industrial Property Rights)] 力覚提示機能を有する操作システム (2009)
  • Inventor(s): 川嶋健嗣, 只野耕太郎
  • Industrial Property Rights Holder: 東京工業大学
  • Filing Date: 2009-09-01