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Accession number;02A0585386
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| Title;A Study on Minute Torque Transmission for Tele Microsurgery. |
| Author;
TOKUYASU TATSUSHI
(Kyushu Inst. of Technol.)
KITAMURA TADASHI
(Kyushu Inst. of Technol.)
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Journal Title;Nippon Kikai Gakkai Robotikusu, Mekatoronikusu Koenkai Koen Ronbunshu
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Journal Code:L0318A
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ISSN:
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VOL.2001;NO.Pt.3;PAGE.2A1.D1(1)-2A1.D1(2)(2001)
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| Figure&Table&Reference;FIG.7, REF.4 |
| Pub. Country;Japan |
| Language;Japanese |
| Abstract;For Tele-microsurgery, minute force feedback on the order of 10 to 100mN is expected to enhance the quality of surgery. In this study, we design a method of minute force feedback within a Master-Slave manipulators system. In the system, the two manipulators are connected through software servo controllers. Each manipulator is composed of a DC servomotor, a single lever, and a angle sensor. Inputted torque on the master lever is transmitted to the slave one which is assumed to touch an organ surface. Experiments of the servo-system showed a satisfactory correlation between inputted minute forces from 1.0 to 18.0*10-3Nm and the transmitted ones. (author abst.) |
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