Function separation for 2-DOF haptic surgical forceps robots driven by multi drive linear motors

2-DOF haptic surgical multi drive robot is driven by multi drive linear motors, and does not separate hand function (manipulating mode) and arm function (grasping mode) of the human motion mechanically. Conventional method has one problem. When the operator want to grasp an object, he have to drive forceps open. This make operator difficult to use forceps finely and powerfully. A proposed method separates two function of position in control. Conventional of grasping/manipulating control uses modal transformation matrix for master or slave robots to achive bilateral control between different structural. The proposed method use modal transformation matrix both master and slave robots between same structure. Moreover, the proposed method enables us to operate like actual forceps than conventional method. The validity of the proposed method is varified by experiments.

[1]  K. Ohnishi,et al.  Reproducibility and operationality in bilateral teleoperation , 2004, The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04..

[2]  K. Ohnishi,et al.  Bilateral Control for Fine Processing Using Virtual Grasping/Manipulating Robots , 2006, IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics.

[3]  Septimiu E. Salcudean,et al.  Bilateral parallel force/position teleoperation control , 2002, J. Field Robotics.

[4]  Toshiyuki Murakami,et al.  Torque sensorless control in multidegree-of-freedom manipulator , 1993, IEEE Trans. Ind. Electron..

[5]  Nobuhiko Hata,et al.  Multi-slider linkage mechanism for endoscopic forceps manipulator , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[6]  G. Sung,et al.  Robotic laparoscopic surgery: a comparison of the DA Vinci and Zeus systems. , 2001, Urology.

[7]  Kouhei Ohnishi,et al.  Rupture detection for exenteration of tissues using two-DOF haptic surgical forceps robot , 2010, 2010 11th IEEE International Workshop on Advanced Motion Control (AMC).

[8]  Kouhei Ohnishi.  Robust Motion Control by Disturbance Observer , 1996, J. Robotics Mechatronics.

[9]  Tsuneo Yoshikawa,et al.  Bilateral control of master-slave manipulators for ideal kinesthetic coupling-formulation and experiment , 1994, IEEE Trans. Robotics Autom..