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Master-slave surgical robots have been studied and developed to support surgeons. Robotic functions such as motion scaling and hand shaking correction can extend the ability of surgeons. However, some problems are remaining in robotic surgery. Operation time which can become the burden to surgeons is still long. Surgeons must assess the situation, decide the next task correctly, and achieve tasks...
In recent years, minimally invasive surgery (MIS) has been developed in medical field. MIS is performed by inserting some tools such as forceps into holes made on a patient's body. MIS requires surgeons of skills and experiences because of the limited space to operate tools and the slight tactile sensation which the operator can feel through the forceps. To improve the performance of surgeons, this...
This paper presents a exact kinematics of the five degrees of freedom (DoF) surgical robot derived by the geometrical relation of the structure. In laparoscopic surgery, there are some advantages for patients because incision on abdominal wall is small. However, laparoscopic surgery is difficult for surgeons. Therefore, surgical robots with have been studied and developed to support surgeons. Conventional...
Image processing and robotics are leading technologies to improve dental surgery. The important information for physicians to perform implant surgery is “where to start cutting” and “when to stop cutting”. The aim of this research is to achieve automatic guide system for teaching the information of “where to start cutting”. To achieve this aim, L-J potential field, which can realize required performance...
Image navigation systems and robotics are leading technologies to improve the accuracy of dental surgery. In this paper, stereo vision based navigation system is implemented to the three degrees of freedom implant surgery assistant robot. The aim of this research is to achieve cooperative guide system for teaching the information of “where to start cutting”. To achieve this aim, modulated potential...
The paradigm of 21st century is clearly different from 20th century. This is shift from mass production based on standardization to small number and wide variety of production. To take the paradigm shift, any production system should have force control providing high adaptability inside. This gives the difficulty to the motion controller where the position control with very high stiffness and the...
As the technology advances, almost all the fields of the society gets developed for the benefit of the mankind. Surgery is one such field where a lot of focus is made to develop the surgical tools and instruments for past couple of decades. As a result, the robot assisted minimal invasive surgeries are very popular in the modern world. Laparoscopic forceps robots are widely used in these types of...
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...
An endoscopic forceps is one of the efficient medical device in minimally invasive surgery. However, the endoscopic forceps has two big problems. First is the endoscopic forceps has friction, and it nonlinearly changes depend on posture of the endoscopic forceps. The friction cause deterioration of operation performance. Second is the endoscopic forceps has only 1-DOF for grasping motion. Therefore,...
This paper presents the technological achievements in realizing the force feedback in surgical robots. No force sensor is used in sensing the force. Disturbance observer and its variant, reaction torque observer is used to detect the force. Bilateral control is used to transmit vivid sensations from the forceps end to the surgeon.
The technology in robotics has been developed remarkably in recent years. Especially, usage of robots in medical field, such as telesurgery, is expected more and more along with the population aging. To realize precise surgery, accurate transmission of force sensation is an important issue. Therefore, bilateral control system is taking attention for the application of robots to telesurgery. Bilateral...
Recent years, a dental implant surgery has been focused and has been widely prevalent. At present, the limited doctor had acquired the skill for the surgery. It is because of that the dental implant surgery has risks of an accident. Therefore, the high quality skill for the surgery is required. A dental hand-piece (dental drill) is used to make the hole which is for insertion of an artificial tooth...
Minimally invasive surgery (MIS) has attracted attention recently. MIS such as endoscopic surgery considers a patient's quality of life. In endoscopic surgeries, bilateral control systems are strongly required to apply. It is necessary to develop the multi Degrees Of Freedom (DOF) robot to achieve various operation procedures including endoscopic surgery. In this paper, 16-DOF haptic telesurgery master/slave...
In this paper, we discuss the issue of safety in robot-assisted fracture reduction. We define the hazards of robot-assisted fracture reduction and design safety control methods. Although a large reduction force is required to reduce femoral neck fractures, an unexpectedly large force produced by a robot may cause injury to the patient. We have designed two mechanical failsafe units and a software...
This paper proposes a novel method which detects a rupture of organs based on environmental impedance estimation. The proposed method detects the rupture of the organs which is conducive to serious medical accident. The environmental impedance is estimated from position and force responses of a surgery robot by using recursive least-squares algorithm. The rupture behavior is analyzed, and thresholds...
Recently, Minimally Invasive Surgery(MIS) has come to the front. The research on surgical robot for operational support has been actively done. To use such robots in MIS, it is needed to estimate the environmental impedance as the numerical data and to preserve it as the standard reference value of the safety field of internal organs. In this paper, the environmental model considering nonlinear stiffness...
Recently, minimally invasive surgery (MIS) that has some advantages has come to the front. The research on surgical robot for operational support has been actively done. To use such robots in MIS, it is needed to estimate the environmental impedance as the numerical data and to preserve it from the viewpoint of knowing the standard reference value of the safety field of internal organs and from that...
For femoral fracture reduction, we have developed a surgical robotic system. Indirect traction is employed in our system. Indirect traction in fracture reduction is a generally used surgical method for preventing complications such as bone splits caused by high stress on bones. For traction, a patientpsilas foot is gripped by a jig and pulled to the distal side. Indirect traction has the advantage...
Recently, minimally invasive surgery (MIS) that has some advantages has come to the front. The research on surgical robot for operational support has been actively done. To use such robots in MIS, it is needed to estimate the environmental impedance as the numerical data and to preserve it from the viewpoint of knowing the standard reference value of the safety field of internal organs and from that...
Interest of tele-operation started many decades ago. In day today lives tele-operation is getting a reality with improved tele-communication systems. Bilateral control is also a subset of tele-operation. Usually in bilateral control, force position information is exchanged between master and slave. This structure successfully transmits tactile sensation from the slave environment to the master operator...
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