Multiple-DOF surgical robot for intuitive operation

2016 Fiscal Year Final Research Report

• Project/Area Number: 15K18001
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Multi-year Fund
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Tokyo Medical and Dental University
• Principal Investigator: Kanno Takahiro 東京医科歯科大学, 生体材料工学研究所, 助教 (50714234)
• Research Collaborator: HARAGUCHI Daisuke ; WATANABE Kengo
• Project Period (FY): 2015-04-01 – 2017-03-31
• Keywords: 手術支援ロボット / 鉗子マニピュレータ / マルチラテラル制御

Outline of Final Research Achievements

In this research, in order to prevent interference of arms in the surgery assistance robot, we developed a multi-degree-of-freedom forceps with higher degree of freedom than conventional robot forceps. We developed a prototype forceps with elbow joint and wrist joint with 2 degrees of freedom, i.e. 4-degrees-of-freedom in total. Considering practical application, a detachable mechanism using cranks and magnets was proposed so that a driving part with an actuator can be separated from a forceps part that performs surgery inside abdominal cavity.
In addition, with the aim of realizing a system that allows an operator to easily handle such multi-degree-of-freedom arm, We developed a control method to operate two robotic forceps using one master arm. Using the kinematics information and force sense information, insertion of a suturing needle is detected. The suture needle was automatically delivered from one forceps to the other forceps.

Free Research Field

ロボット工学