지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2008.10
- 수록면
- 1,657 - 1,662 (6page)
이용수
초록· 키워드
오류제보하기
Recently, robotic surgical support systems are in clinical use for minimally invasive surgery. For improvement in operability of the minimally invasive surgery, development of haptic forceps teleoperation systems is required to help surgeon"s immersion and dexterity. Besides, motion scaling function which can adequately reduce and enlarge a movement of the forceps against a surgeon"s operation and a tactile sense to the surgeon under time delay, is necessary for safety. We have developed a multi-DOF robotic forceps manipulator using a novel omni-directional bending mechanism, so far. In this paper, such a passivity based bilateral control that enables motion scaling in both position tracking and force tracking is proposed for the developed robotic forceps teleoperation system with constant time delay. Experimental works were carried out and results showed the effectiveness of the proposed control scheme.
목차
Abstract
1. INTRODUCTION
2. DSD ROBOTIC FORCEPS
3. BILATERAL CONTROL
4. SIMULATIONS
5. EXPERIMENTS
6. CONCLUSIONS
REFERENCES
참고문헌 (0)
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UCI(KEPA) : I410-ECN-0101-2014-569-000985610