| Presentation | 2005-12-01 Motion controller on reconfigurable device for bilateral forceps robots Ena ISHII, Hiroaki NISHI, Kouhei OHNISHI, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | In recent days, minimally invasive surgery by using endoscope has spread and the robot that supports endoscopic surgery is being focused on. In robotic surgery, doctor operates a master robot and a slave robot actually acting on an affected area. The existing surgery robots has the problem that could not transmit the information of tactile sensation to the operator. To transmit tactile information to the operator, bilateral teleoperation has developed. In bilateral teleoperation, keenness of tactile sensation is improved by shortening the sampling period of motion control. In this report, a bilateral controller on FPGA is proposed to shorten the sampling period. Sampling period is shortened from 100μs to 10μs by using FPGA. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Motion control / Bilateral teleoperation / Reconfigurable device / FPGA |
| Paper # | RECONF2005-70 |
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| Conference Information | |
| Committee | RECONF |
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| Conference Date | 2005/11/24(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | Reconfigurable Systems (RECONF) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Motion controller on reconfigurable device for bilateral forceps robots |
| Sub Title (in English) | |
| Keyword(1) | Motion control |
| Keyword(2) | Bilateral teleoperation |
| Keyword(3) | Reconfigurable device |
| Keyword(4) | FPGA |
| 1st Author's Name | Ena ISHII |
| 1st Author's Affiliation | Department of System Design Engineering, Keio University() |
| 2nd Author's Name | Hiroaki NISHI |
| 2nd Author's Affiliation | Department of System Design Engineering, Keio University |
| 3rd Author's Name | Kouhei OHNISHI |
| 3rd Author's Affiliation | Department of System Design Engineering, Keio University |
| Date | 2005-12-01 |
| Paper # | RECONF2005-70 |
| Volume (vol) | vol.105 |
| Number (no) | 451 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |