Research on Teleoperation Master Manipulator for Robot Assisted Remote Operation
LIAO Li1, YAN Zhi-yuan1, DU Zhi-jiang1, HE Shi-lin2, CHEN Guang-fei2, ZHOU Dan2
1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang 150080, China;2. Chinese PLA General Hospital, Beijing 100853, China
Abstract:As one kind of important equipment of robot assisted remote operation, teleoperation master manipulator is the interactive interface between the remote operation part and doctors. This paper designed a kind of master manipulator with series-parallel mixed mechanism and three-degree force feedback, which is operated flexibly and has large working space that can meet the operation requirements. A remote operation experimental platform is built. Through the experiment, we testified that the teleoperation master manipulator system is stable and robot assisted remote operation is practicable.
廖立,闫志远,杜志江何史林,陈广飞,周丹. 面向机器人辅助远程手术的遥操作主手研究[J]. 中国医疗设备, 2014, 29(8): 11-13.
LIAO Li, YAN Zhi-yuan, DU Zhi-jiang, HE Shi-lin, CHEN Guang-fei, ZHOU Dan. Research on Teleoperation Master Manipulator for Robot Assisted Remote Operation. China Medical Devices, 2014, 29(8): 11-13.
RussellH T,Dan S. Medical Robotics in Computer-Integrated Surgery[C].IEEE Transactions on Robotics and Automation, 2003(19):765-781.
[6]
Sheridan T B.Space teleoperation through time delay: review and prognosis[J].Robotics and Automation,IEEE Transactions on,1993,9(5):592-606.
[5]
Christopher R,Wagner Nicholas Stylopoulos Robert D.Howe.The Role of Force Feedback in Surgery:Analysis of Blunt Dissection[C].10th Symposium on Haptic Interface for Virtual Environment and Teleoperator Systems,2002:118-125.
[7]
Steven Martin,Nick Hillier. Characterisation of the Novint Falcon Haptic Devicefor Application as a Robot Manipulator[C]. Australasian Conference on Robotics and Automation (ACRA), 2009.
[8]
Mellor-Crummey J M,Scott M L.Algorithms for scalable synchronization on shared-memory multiprocessors[J].ACM Transactions on Computer Systems (TOCS),1991,9(1):21-65.