書誌事項
- タイトル別名
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- 2A1-C08 Study on Operatability of Surgical Robot System with Force Feedback
抄録
In the teleoperated minimally invasive surgery systems, the measurement and conveyance of sense of force to the operator is a problematic. We previously proposed a pneumatic surgical manipulator that is capable of estimating external force without the use of force sensors. However, the effectiveness of the force feedback also has not been verified for practical tasks. Although an impedance control is implemented in the developed master-slave system, it has been unknown how large the impedance values should be set. In this paper, we evaluate the influences of the force feedback and an impedance parameter on performance of surgical tasks. Experimental results indicated that force feedback allowed operators to enhance the performance of suturing task. We confirmed that there were most suitable values in viscous coefficient for block-transfer task.
収録刊行物
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- ロボティクス・メカトロニクス講演会講演概要集
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ロボティクス・メカトロニクス講演会講演概要集 2010 (0), _2A1-C08_1-_2A1-C08_3, 2010
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390282680910582016
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- NII論文ID
- 110008741711
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- ISSN
- 24243124
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可