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 *help |
¥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
|
Report
(4 results)
Research Products
(48 results)
