2011 Fiscal Year Final Research Report
Control of surgical robot system for tele-operation considering the communication delay and its safety assessment
| Project/Area Number |
21360114
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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 | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Tokyo Institute of Technology |
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Principal Investigator |
KAWASHIMA Kenji 東京工業大学, 精密工学研究所, 准教授 (40300553)
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| Co-Investigator(Kenkyū-buntansha) |
TADANO Kotaro 東京工業大学, 精密工学研究所, 助教 (90523663)
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| Project Period (FY) |
2009 – 2011
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| 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
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