[논문]단일마스터 멀티슬레이브형 텔레로보틱스 수술시스템 개발

황길경; 진태석; 하시모토히데키

doi:10.5302/j.icros.2006.12.9.918

단일마스터 멀티슬레이브형 텔레로보틱스 수술시스템 개발
Development of Telerobotic Surgery System with Single-Master Multi-Slave 원문보기

제어·자동화·시스템공학 논문지 = Journal of control, automation and systems engineering, v.12 no.9, 2006년, pp.918 - 925

황길경 (동경대학 생산기술연구소) , 진태석 (동서대학교 메카트로닉스공학과) , 하시모토히데키 (동경대학 생산기술연구소)

Abstract ▼ AI-Helper

Medical robotics and computer aided surgery in general, and robotic telesurgery in particular, are promising applications of robotics. In this paper, we shows a novel single-master (PHANTOM based single-master multi-slave telerobotic system) multi-slave system using two parallel mechanism micromanipulators as a slave device. After a general introduction to the systems structure and configuration of telerobotic system, a manipulation control strategy to build the system that human and both manipulators perform the cooperative manipulation, is introduced, followed by its kinematic analysis, mapping method, and experimental results.

주제어

AI 본문요약
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문제 정의

In the last, we've found that the proposed force feedback strategy let human operator to know about the information on robot's intervention to control. Therefore, this strategy improves human's operability during the human-robot shared control with SMMS system environment. An hypothesis of Ikura grasping experiment is proved by showing the adaptivity to different human's skill levels.
This study addressed various aspects of telerobotics system. We first introduced the single-master multi-slave micromanipulation system for telerobotic surgery system whi ch can be representative as micro robot, a master-slave telerobotic system designed considering the special requirements of minimally invasive telesurgery, followed by its kinematic analysis, evaluations of singular position, and manipulability of multi slave system.

제안 방법

The problem caused by the D.O.F difference between the master and the slave is overcomed through the proposed manipulation strategy which contains task-based phase shifting.

성능/효과

[Table 1] shows the summarized succeed rate fbr 3 subjects which are compared with the normal internal force feedback or chopstick manipulation (steel, ideal case) by each subject. The results show that salmon roe grasping is hard task even with the chopstick so the simple information delivered to human helps to increase the human's manipulation capability and dexterity. Human operator is considered to be not sensitive to high frequency internal force feedback which is continuous but more sensitive to classified force feedback such as "almost dropping", “stable", "excessive force, , and etc.

참고문헌 (12)

S. S. Sastry, M. Cohn, and F. Tendick, 'Milli-robotics for remote, minimally invasive surgery,' J. Robot. Auton. Syst., vol. 21, no. 3, pp. 305-316, Sept. 1997

상세보기
J. E. Colgate, 'Robust Impedance Shaping Telemanipulation,' IEEE Trans. on Robotics and Automation, vol. 9, no. 4, pp. 374-384, 1993

상세보기
T. Tanikawa and T. Arai 'Development of a nicro-manipulation system having a two-fingered micro-hand,' IEEE Trans. on Robotics and Automation, vol. 15, no. 1, pp. 152-162, Feb 1999

상세보기
J. A. Thompson and R. S. Fearing, 'Automating microassembly with ortho-tweezers and force sensing,' in Proc. IEEE/RSJ Int. Conf. Intelligent Robots Systems, Maui, HI, pp. 1327-1334, 2001
N. Ando, M. Ohta, K. Gonda, and H. Hashimoto, 'Micro teleoperation with parallel manipulator,' 2001 IEEE/SME International Conference on Advanced Intelligent Mechtronics Proc., pp. 63-68, July 2001
Richard P. Paul 'Robot manipulators: Mathematics, programing, and control,' Cambridge, MA: The MIT Press, 1981
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상세보기
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E. F. Fichter, 'A stewart platform-based manipulator: General theory and practical construction,' The International journal of Robotics Research, vol. 5-2, pp. 157-182, 1986

상세보기
K. Cleary and T. Arai, 'A prototype parallel manipulator: Kinematics, construction, software, workspace results, and singularity analysis,' Proc. of the 1991 IEEE International Corference on Robotics and Automation, pp. 566-571, 1991
K. Kosuge, T. Itoh, Toshio Fukuda, and Manabu Otsuka, 'Telemanipularion system based on task-oriented virtual tool,' IEEE International Conference on Robot and Automation, pp. 351-356, 1995
B. Hannoford and R. Anderson, 'Experimental and simulation studies of hard contact in force reflecting teleoperation,' Proc. of 1988 IEEE International Conference on Robotics and Automation, pp. 584-589, 1988

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