1999 Fiscal Year Final Research Report Summary
A study on development of vibration control gyroscopes for surgical microscopes
| Project/Area Number |
10555073
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 展開研究 |
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| Research Field |
Dynamics/Control
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| Research Institution | KYOTO UNIVERSITY |
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Principal Investigator |
MATSUHISA Hiroshi Kyoto Univ. Precision Engineering, Prof., 工学研究科, 教授 (00109034)
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| Co-Investigator(Kenkyū-buntansha) |
TUBOI Yoichi Kyoto Univ. Medicine, Research Associate, 医学研究科, 助手 (60221420)
NISHIHARA Osamu Kyoto Univ. Systems Science, Associate Prof., 情報学研究科, 助教授 (00218182)
HONDA Yoshihisa Kyoto Univ. Precision Engineering, Instructor, 工学研究科, 講師 (60181559)
YASUDA Masashi Tokkyokiki Co. Engineering Dept., Director, 技術部・部長
INOUE Yoshio Kochi Univ. of Tech. Mechanical Engineering., Prof., 工学部, 教授 (50299369)
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| Project Period (FY) |
1998 – 1999
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| Keywords | Surgery microscope / Carrier arm / Vibration control / Momentum exchange / CMG / Single gimbal / Variable gain control / Velocity feedback |
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| Research Abstract |
In this research project, a gyroscopic vibration control system for surgical microscope was developed. Surgical operations under microscopes are sometimes seriously disturbed by the vibration of visual fields. These microscopes are usually supported by some carrier arms to enhance the utilities. Thus,vibrations of the arms are easily induced even by usual movements of doctors or nurses in the operating room. It is considered that the momentum-exchange type vibration control devices are suitable for these applications. Especially, gyroscopic actuators yield good control effects even when the frequency range is less than 10Hz. An experimental CMGs system was developed assuming the typical specification of surgical microscopes. This system has six identical gimbals, and each gimbal supports a rotor of uniform steel disk, which is 59mm in diameter and 10mm in thickness. The typical rotational frequency is 3600rpm in all rotors. These six gimbals makes three pairs, and in each pair, two gimbals are connected by a spar gear and a parallel crank. The pair of gimbals are driven by a DC servomotor, thus the output torques around the orthogonal three axes can be controlled independently. The CMGs unit is miniaturized to be attached near the free end of arm, and the weight is less than 3kg. A mock-up of microscope carrier arm was build for the experiments, which consists of a base unit and double arms with three joints, and the carrier is 1.5m in totallength. The PC based DSP system was employed for the feedack control. Three servo-type accelerometers were installed near the free end of the arm together with the CMGs unit. A variable gain velocity feedback control was rearranged for this purpose, and their block diagrams were developed under MATLAB/Simulink Realtime Workshop environment. Thus, the effectiveness of the gyroscopic system for the vibration damping of surgical microscope was experimentally confirmed.
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Research Products
(2 results)
