Paper Info
Title
Development of a Master-Slave System with Force-Sensing Abilities using Pneumatic Actuators for Laparoscopic Surgery
Abstract
In minimally invasive telesurgical systems, displaying the forces measured at the slave side is an important issue. The ability to accurately feel the force being applied at the slave side is important. This paper describes a slave manipulator, which has 7 d.o.f. and is driven by pneumatic actuators, newly designed and developed for use in minimally invasive surgery. Then, a master-slave system is constructed using the master device we have developed. In the system, we applied a different impedance control for each manipulator. We adopted a force-control type of impedance control without a force sensor for the pneumatic slave manipulator. For the master manipulator, we used a motion-control type of impedance control. The experimental results indicate that the operator feels the force at the slave side with an uncertainty of about 1.5 N. The effectiveness of the force feedback using the developed system is demonstrated. (c) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2010
Year
DOI
Venue
2010
10.1163/016918610X522559
ADVANCED ROBOTICS
Keywords
Field
DocType
Surgical robot,master-slave system,force feedback,bilateral control,pneumatic servo system
Force sensor,Laparoscopic surgery,Pneumatic actuator,Control theory,Manipulator,Control engineering,Impedance control,Master manipulator,Engineering,Master/slave,Haptic technology
Journal
Volume
Issue
ISSN
24
12
0169-1864
Citations 
PageRank 
References 
6
0.72
10
Authors
2
Name
Order
Citations
PageRank
Kotaro Tadano15710.05
Kenji Kawashima27210.24