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JRM Vol.22 No.2 pp. 179-188
doi: 10.20965/jrm.2010.p0179
(2010)

Paper:

Development of a Pneumatic Surgical Manipulator IBIS IV

Kotaro Tadano*, Kenji Kawashima*, Kazuyuki Kojima**,
and Naofumi Tanaka**

*Precision and Intelligence Laboratory, Tokyo Institute of Technology, 4259 Nagatsuta, Midori-ku, Yokohama-shi, 226-8503, Japan

**Tokyo Medical and Dental University, 1-5-45 Yushima, Bunkyo-ku, Tokyo 113-8519, Japan

Received:
September 30, 2009
Accepted:
January 25, 2010
Published:
April 20, 2010
Keywords:
surgical robot, force feedback, bilateral control, pneumatic servo system
Abstract

In teleoperated, minimally invasive surgery systems, the measurement and conveyance of a sense of force to the operator is problematic. In order to carry out safer and more precise operations using robotic manipulators, force measurement and operator feedback are very important factors. We previously proposed a pneumatic surgical manipulator that is capable of estimating external force without the use of force sensors. However, the force estimation had a sensitivity of only 3 N because of inertia and friction effects. In this paper, we develop a new and improved model of the pneumatic surgical manipulator, IBIS IV. We evaluate its performance in terms of force estimation. The experimental results indicate that IBIS IV estimates external forces with a sensitivity of 1.0 N. We also conduct an in-vivo experiment and confirm the effectiveness and improvement of the manipulator.

Cite this article as:
K. Tadano, K. Kawashima, K. Kojima, and <. Tanaka, “Development of a Pneumatic Surgical Manipulator IBIS IV,” J. Robot. Mechatron., Vol.22, No.2, pp. 179-188, 2010.
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