力触覚伝達機能を備えた細径軟性把持鉗子ロボットの開発

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2019/12/01

タイトル(英語): Development of Small-Diameter Haptic Flexible Gripping Forceps Robot

著者名: 松永　卓也（慶應義塾大学ハプティクス研究センター／地方独立行政法人神奈川県立産業技術総合研究所），大西　公平（慶應義塾大学ハプティクス研究センター／地方独立行政法人神奈川県立産業技術総合研究所），和田　則仁（慶應義塾大学ハプティクス研究センター／慶應義塾大学医学部），北川　雄光（慶應義塾大学医学部）

著者名(英語): Takuya Matsunaga (Haptics Research Center, Keio University/Kanagawa Institute of Industrial Science and Technology), Kouhei Ohnishi (Haptics Research Center, Keio University/Kanagawa Institute of Industrial Science and Technology), Norihito Wada (Haptics Research Center, Keio University/Keio University School of Medicine), Yuko Kitagawa (Keio University School of Medicine)

キーワード: モーションコントロール，ハプティクス，バイラテラル制御，軟性内視鏡手術システム，軟性鉗子ロボット　　motion control，haptics，bilateral control，flexible endoscopic surgical system，flexible forceps robot

要約(英語): Robotic technologies are being increasingly utilized for medical treatments to support surgeons and reduce the burden to patients. Flexible endoscopic surgical systems with an endoscope and flexible forceps robots are state-of-the-art devices that are expected to realize more difficult and less invasive surgery. Surgeons teleoperate these flexible forceps robots as their own hands and conduct various medical tasks. The wire-driven mechanism is applied to many flexible forceps robots to transmit the driving force to the tip of the robots in a narrow space. However, the flexible structure makes it difficult to control the wire-driven robots and implement the haptic technologies to realize safer surgery. In this paper, a force sensor-less, small-diameter flexible forceps robot with the ability to transmit haptic sensation is presented. The driving part at the tip of the flexible part, composed of a small actuator with a reduction mechanism, realizes the miniaturization of the robot. Haptic information is estimated by low resolution position information. The bending of the flexible part with electric wires does not deteriorate the performance of the end effector. The performance of the haptic flexible forceps robot is evaluated through experiments.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.139 No.12 （2019）

本誌掲載ページ: 966-972 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/139/12/139_966/_article/-char/ja/