The Proposal of the Human-Machine Cooperative System for Master-Slave Combined Robotic Forceps

摘要

Recently, the robotic forceps is developed for expanding movement range and addition of new function in minimally invasive surgery. However, the robotic forceps has some problems, for example increasing weight, complexity of the operation by increasing the degree of freedom of the tip of the forceps, and so on. These problems increase the operator's load. This study progress the development of the system for master-slave connected type robotic forceps operation support to decrease the operator's load. This paper describes suggestion of the human-machine cooperative system for robotic forceps and the examination of the control method by kinetics and dynamics.