Development of Multi Degrees-of-Freedom Haptic Forceps Robot with Three Actuated Fingers

摘要

Surgical robots have been studied and developed to assist surgeons. Master-slave flexible forceps robots that are components of a flexible endoscopic surgical robot are useful to realize novel minimally invasive surgical procedures that are difficult for conventional rigid medical devices. Although driving force for the tip portion of a flexible forceps robot is mechanically transmitted by wires through the flexible portion, friction and backlash changed by the posture of the flexible portion make it difficult to realize precise end effector control. Furthermore, transmission of haptic sensation is necessary to realize safer operation. In this study, a multi degrees-of-freedom (DoF) haptic forceps robot with three fingers is presented as an end effector of a flexible forceps robot. Transmission of driving force in flexible structure that causes performance deterioration is eliminated by arranging motors near the end effector. To transmit haptic sensation to operators, bilateral control is implemented to a master-slave system composed of the haptic forceps robot and a multi DoF input device. Additionally, control on modal space is implemented to verify finger dexterity. The utility of the haptic forceps robot is experimentally validated.