Keynote paper - Real world haptics applied to forceps in robot surgery

This paper presents the technological achievements in realizing the force feedback in surgical robots. No force sensor is used in sensing the force. Disturbance observer and its variant, reaction torque observer is used to detect the force. Bilateral control is used to transmit vivid sensations from...

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Bibliographic Details
Main Authors: Sakaino, S, Abeykoon, A M H S, Ohnishi, K
Format: Conference Proceeding
Language:eng ; jpn
Subjects:
Bilateral control
Disturbance observer
Force
Force feedback
Force sensors
Motion control
Robot assisted surgery
Robot sensing systems
Surgery
Online Access:Request full text
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Description
Summary:This paper presents the technological achievements in realizing the force feedback in surgical robots. No force sensor is used in sensing the force. Disturbance observer and its variant, reaction torque observer is used to detect the force. Bilateral control is used to transmit vivid sensations from the forceps end to the surgeon.
ISSN:2151-1802
2151-1810
DOI:10.1109/ICIAFS.2010.5715726