Departmental Bulletin Paper 腹腔鏡下手術用ロボットの力覚フィードバックにおける鉗子先端のダイナミクスを用いたスケーリング法

前田, 翔太郎

57pp.1 - 8 , 2016-03-24 , 法政大学大学院 理工学・工学研究科
In this study, a new scaling method for force feedback is proposed for the surgical robot developed in our laboratory, incorporating an analysis of the shaft of the forceps based on beam theory. A six-axis force and torque sensor is attached to the base parts of the forceps manipulator of the surgical robot to detect a force which is added at the tip or shaft part of the forceps. Then, the detected force is amplified using the proposed scaling method and the amplified force is realized through the haptic device Omega.7. Experiments were carried out to verify an effectiveness of the proposed scaling method. The results showed that the operator of the surgical robot can sense a small force which was added to the forceps more clearly and quickly compared with that realized when the conventional constant scaling method is used. Key Words : Forceps manipulator, Force feedback, Scaling method, Force and torque sensor

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