[Development of real-world haptic technology].
Identifieur interne : 000998 ( PubMed/Checkpoint ); précédent : 000997; suivant : 000999[Development of real-world haptic technology].
Auteurs : Kouhei Ohnishi [Japon] ; Tomoyuki Shimono ; Kenji NatoriSource :
- Gan to kagaku ryoho. Cancer & chemotherapy [ 0385-0684 ] ; 2012.
English descriptors
- KwdEn :
- MESH :
- instrumentation : Robotics.
- Minimally Invasive Surgical Procedures, Surgery, Computer-Assisted, Surgical Instruments.
Abstract
This paper introduces the principle of real-world haptic and its technology applied to high-grade surgery and/or welfare areas. The existing technology has depended on force sensors, which leads to a trade-off issue between stability and performance. The implementation and realization of a better system has been an unsolved problem for a long time. The authors invented a novel technology that works without force sensors. Modal decomposition and acceleration-based bilateral control(ABC method)are its key concepts. This idea has been actualized with three dof robotic forceps. Several experimental results found by the application of haptic forceps mounted on a 6 dof industrial robot are shown.
PubMed: 22790037
Affiliations:
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pubmed:22790037Le document en format XML
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<author><name sortKey="Ohnishi, Kouhei" sort="Ohnishi, Kouhei" uniqKey="Ohnishi K" first="Kouhei" last="Ohnishi">Kouhei Ohnishi</name>
<affiliation wicri:level="1"><nlm:affiliation>Dept. of System Design Engineering, Keio University, Japan.</nlm:affiliation>
<country xml:lang="fr">Japon</country>
<wicri:regionArea>Dept. of System Design Engineering, Keio University</wicri:regionArea>
<wicri:noRegion>Keio University</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Shimono, Tomoyuki" sort="Shimono, Tomoyuki" uniqKey="Shimono T" first="Tomoyuki" last="Shimono">Tomoyuki Shimono</name>
</author>
<author><name sortKey="Natori, Kenji" sort="Natori, Kenji" uniqKey="Natori K" first="Kenji" last="Natori">Kenji Natori</name>
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<sourceDesc><biblStruct><analytic><title xml:lang="en">[Development of real-world haptic technology].</title>
<author><name sortKey="Ohnishi, Kouhei" sort="Ohnishi, Kouhei" uniqKey="Ohnishi K" first="Kouhei" last="Ohnishi">Kouhei Ohnishi</name>
<affiliation wicri:level="1"><nlm:affiliation>Dept. of System Design Engineering, Keio University, Japan.</nlm:affiliation>
<country xml:lang="fr">Japon</country>
<wicri:regionArea>Dept. of System Design Engineering, Keio University</wicri:regionArea>
<wicri:noRegion>Keio University</wicri:noRegion>
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<author><name sortKey="Shimono, Tomoyuki" sort="Shimono, Tomoyuki" uniqKey="Shimono T" first="Tomoyuki" last="Shimono">Tomoyuki Shimono</name>
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<author><name sortKey="Natori, Kenji" sort="Natori, Kenji" uniqKey="Natori K" first="Kenji" last="Natori">Kenji Natori</name>
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<series><title level="j">Gan to kagaku ryoho. Cancer & chemotherapy</title>
<idno type="ISSN">0385-0684</idno>
<imprint><date when="2012" type="published">2012</date>
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<profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Minimally Invasive Surgical Procedures</term>
<term>Robotics (instrumentation)</term>
<term>Surgery, Computer-Assisted</term>
<term>Surgical Instruments</term>
</keywords>
<keywords scheme="MESH" qualifier="instrumentation" xml:lang="en"><term>Robotics</term>
</keywords>
<keywords scheme="MESH" xml:lang="en"><term>Minimally Invasive Surgical Procedures</term>
<term>Surgery, Computer-Assisted</term>
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<front><div type="abstract" xml:lang="en">This paper introduces the principle of real-world haptic and its technology applied to high-grade surgery and/or welfare areas. The existing technology has depended on force sensors, which leads to a trade-off issue between stability and performance. The implementation and realization of a better system has been an unsolved problem for a long time. The authors invented a novel technology that works without force sensors. Modal decomposition and acceleration-based bilateral control(ABC method)are its key concepts. This idea has been actualized with three dof robotic forceps. Several experimental results found by the application of haptic forceps mounted on a 6 dof industrial robot are shown.</div>
</front>
</TEI>
<pubmed><MedlineCitation Owner="NLM" Status="MEDLINE"><PMID Version="1">22790037</PMID>
<DateCreated><Year>2012</Year>
<Month>07</Month>
<Day>13</Day>
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<DateCompleted><Year>2012</Year>
<Month>08</Month>
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<DateRevised><Year>2014</Year>
<Month>11</Month>
<Day>20</Day>
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<Article PubModel="Print"><Journal><ISSN IssnType="Print">0385-0684</ISSN>
<JournalIssue CitedMedium="Print"><Volume>39</Volume>
<Issue>7</Issue>
<PubDate><Year>2012</Year>
<Month>Jul</Month>
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<Title>Gan to kagaku ryoho. Cancer & chemotherapy</Title>
<ISOAbbreviation>Gan To Kagaku Ryoho</ISOAbbreviation>
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<ArticleTitle>[Development of real-world haptic technology].</ArticleTitle>
<Pagination><MedlinePgn>1035-8</MedlinePgn>
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<Abstract><AbstractText>This paper introduces the principle of real-world haptic and its technology applied to high-grade surgery and/or welfare areas. The existing technology has depended on force sensors, which leads to a trade-off issue between stability and performance. The implementation and realization of a better system has been an unsolved problem for a long time. The authors invented a novel technology that works without force sensors. Modal decomposition and acceleration-based bilateral control(ABC method)are its key concepts. This idea has been actualized with three dof robotic forceps. Several experimental results found by the application of haptic forceps mounted on a 6 dof industrial robot are shown.</AbstractText>
</Abstract>
<AuthorList CompleteYN="Y"><Author ValidYN="Y"><LastName>Ohnishi</LastName>
<ForeName>Kouhei</ForeName>
<Initials>K</Initials>
<AffiliationInfo><Affiliation>Dept. of System Design Engineering, Keio University, Japan.</Affiliation>
</AffiliationInfo>
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<Author ValidYN="Y"><LastName>Shimono</LastName>
<ForeName>Tomoyuki</ForeName>
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<Author ValidYN="Y"><LastName>Natori</LastName>
<ForeName>Kenji</ForeName>
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<MedlineJournalInfo><Country>Japan</Country>
<MedlineTA>Gan To Kagaku Ryoho</MedlineTA>
<NlmUniqueID>7810034</NlmUniqueID>
<ISSNLinking>0385-0684</ISSNLinking>
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<tree><noCountry><name sortKey="Natori, Kenji" sort="Natori, Kenji" uniqKey="Natori K" first="Kenji" last="Natori">Kenji Natori</name>
<name sortKey="Shimono, Tomoyuki" sort="Shimono, Tomoyuki" uniqKey="Shimono T" first="Tomoyuki" last="Shimono">Tomoyuki Shimono</name>
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<country name="Japon"><noRegion><name sortKey="Ohnishi, Kouhei" sort="Ohnishi, Kouhei" uniqKey="Ohnishi K" first="Kouhei" last="Ohnishi">Kouhei Ohnishi</name>
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