| Budget Amount *help |
¥27,300,000 (Direct Cost: ¥21,000,000、Indirect Cost: ¥6,300,000)
Fiscal Year 2013: ¥11,440,000 (Direct Cost: ¥8,800,000、Indirect Cost: ¥2,640,000)
Fiscal Year 2012: ¥7,020,000 (Direct Cost: ¥5,400,000、Indirect Cost: ¥1,620,000)
Fiscal Year 2011: ¥8,840,000 (Direct Cost: ¥6,800,000、Indirect Cost: ¥2,040,000)
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| Research Abstract |
In order to realize an innovative forceps system with high haptic transmission function, it was found that a new direct-drive actuation technology should be developed. In this research, a new half-circle-shaped linear motor was developed. This motor can provide pitch motion and yaw motion of a medical forceps. From the magnetic field analysis and the experiment on the prototype, it was confirmed that the developed system could achieve a circumference motion along a circle. The improved prototype showed enough thrust characteristics. Finally, a two-degrees-of-freedom platform based on the high-thrust circular shaft motor was developed. Then, the fundamental actuation technique based on the developed motor was established.
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