2013 Fiscal Year Final Research Report
Research and Development on Multi-Degrees-of-Freedom Haptic Forceps for Surgical Simulator
| Project/Area Number |
23686046
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| Research Category |
Grant-in-Aid for Young Scientists (A)
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| Allocation Type | Single-year Grants |
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| Research Field |
Power engineering/Power conversion/Electric machinery
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| Research Institution | Yokohama National University |
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Principal Investigator |
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| Project Period (FY) |
2011-04-01 – 2014-03-31
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| Keywords | ハプティクス / モーションコントロール / 制御工学 / 電気機器工学 / リニアモータ / パワーエレクトロニクス |
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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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