Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1007/s00464-023-10521-z

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Language：Japanese   Publisher：(一社)日本コンピュータ外科学会  

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1007/s00595-023-02732-7

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1038/s41598-023-37730-9

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DOI： 10.1007/s00464-023-10061-6

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DOI： 10.20965/jrm.2023.p0461

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1002/rcs.2496

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.20965/jrm.2023.p0461

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.3390/s23010431

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.20965/jrm.2022.p1216

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DOI： 10.20965/jrm.2022.p1216

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DOI： 10.20965/jrm.2022.p1215

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Language：Japanese   Publisher：The Japan Fluid Power System Society  

A robot hand is required to generate a large grasping force. Furthermore, it is required that one finger should possess multiple degrees of freedom and the fingertips should be positioned freely to grasp and manipulate objects of various sizes and shapes. A function to adjust the stiffness is also required to control the force and realize stable grasping. The development of a hand with these functions at a high level is a technical problem. We propose a multi-degree-of-freedom finger module that uses pneumatic cylinders and a parallel link mechanism. The proposed hand has adjustable stiffness while maintaining high grasping force-to-weight ratio. In addition, the proposed hand was able to estimate the external force acting on the fingertip from the differential pressure and a kinematics model. By using the estimated external force for control, adjustable stiffness was realized without using a force sensor. This paper also describes the design method of the finger module. We experimentally confirmed that the proposed hand was able to satisfy various target specifications. In addition, it was able to realize multiple functions of a hand using a compact mechanism.

DOI： 10.5739/jfps.53.1

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Publishing type：Research paper (scientific journal)  

DOI： 10.20965/jrm.2022.p1216

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Japan Fluid Power Systems Society  

DOI： 10.5739/jfpsij.15.46

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1002/rcs.2355

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Informa {UK} Limited  

DOI： 10.1080/01691864.2021.1993333

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Publishing type：Research paper (scientific journal)   Publisher：MYU K.K.  

DOI： 10.18494/sam.2021.3345

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DOI： 10.1002/rcs.2177

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BACKGROUND: Holding endoscopes by hand when performing eye surgery reduces the dexterity of the surgeon. METHODS: A robotic endoscope holder called "Eye Explorer" is proposed to hold the endoscope and free the surgeon's hand. RESULTS: This device satisfies the engineering and clinical requirements of eye surgery. The force for manual operation is less than 0.5 N. The observable ranges inside the patient's eye considering horizontal and vertical perspectives are 118° and 97°, and the motion of the holder does not interfere with the surgeon's hand and other surgical devices. The self-weight compensation can prevent the endoscope from falling when extra supporting force is released. When comparing the external force exerted on the eye by the Eye Explorer with that in case of manual operation, a decrease of more than 15% can be observed. Moreover, the consumption time of endoscope view adjustment using the Eye Explorer and manual operation does not significantly differ. CONCLUSION: The Eye Explorer allows dual-hand operation, facilitating a successful endoscopic eye surgery.

DOI： 10.1002/rcs.2177

PubMed

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DOI： 10.1002/rcs.2177

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PubMed

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.20965/jrm.2020.p1000

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DOI： 10.5739/jfpsij.13.1

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Publishing type：Research paper (scientific journal)  

DOI： 10.3390/app10113679

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.3390/app10113679

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DOI： 10.18178/ijmerr.9.5.665-672

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DOI： 10.3390/app10031066

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DOI： 10.24018/ejfood.2020.2.1.18

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DOI： 10.20965/jrm.2020.p1000

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DOI： 10.18494/SAM.2020.2713

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DOI： 10.20965/jrm.2020.p1000

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.18494/SAM.2020.2713

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Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： 10.7210/jrsj.37.975

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1002/rcs.2065

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1186/s42490-019-0012-1

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Language：Japanese   Publishing type：Research paper (scientific journal)  

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1080/10447318.2019.1608677

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Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： 10.18974/tvrsj.24.1_93

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.17706/ijbbb.2019.9.1.1-8

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Springer Verlag  

DOI： 10.1007/978-3-030-01370-7_44

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In this study, we develop a pneumatic surgical robotic arm not requiring positioning a RCM(Remote center of motion) of the robotic arm on an insertion port of a patient. We use a joint that do not have stiffness but have ability to output torque. We call this joint “semi-active joint”, and realize them with a pneumatic actuator with high backdrivability. Using the semi-active joint, the posture of the robot is formed passively by a constraint of the insertion port. Plus, the robotic arm can be expected to compensate external forces in abdomen. We controlled its end point in a constraint of the insertion port, and evaluated about accuracy of its movement and forces exerted to the insertion port.

DOI： 10.1299/jsmermd.2019.1a1-b06

DOI： 10.20965/jrm.2020.p1000_references_DOI_OgP8GEfAWHQQbxSn55dHjGEyEiV

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE Computer Society  

DOI： 10.1109/COASE.2018.8560439

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DOI： 10.1080/10447318.2018.1509499

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Overshooting during trocar insertion may injury patient viscera and arteries or even lead to death. It has been extensively cited as a kind of common medical negligence. Hence, this paper investigated the force characteristics during a trocar inserted into the abdominal wall and developed strategies for effective stopping upon the trocar penetrated out of the abdominal wall. First, an experimental platform with two degrees of freedom was assembled. Second, two insertion methods were compared and the insertion forces using three types of trocars were measured respectively. Subsequently, we interpreted the force characteristics in terms of insertion principle and the abdominal structure. And based on the force characteristics, we generated two algorithms for the two insertion methods, which can be utilized to stop inserting effectively upon the trocar penetrated out of the abdominal wall. Finally, we evaluated the merits and demerits of the two algorithms. This paper proposed the interpretation of force characteristics during trocar insertion and achieved effective stopping to avoid overshooting. It provides foundations for the development of automatic trocar insertion device in the future.

DOI： 10.1142/S0219519418500252

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Elsevier B.V.  

DOI： 10.1016/j.sna.2018.01.007

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DOI： 10.1088/1757-899X/249/1/012003

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DOI： 10.1177/1729881417733885

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DOI： 10.3390/app7080816

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Language：Japanese   Publisher：The Japan Fluid Power System Society  

<p>Pneumatic servo valves are key components in pneumatic servo systems. In multi-degree-of-freedom systems such as robot systems, a lot of servo valves are installed. Nozzle flapper-type servo valves are not suitable for these systems because they release air all the time, so that air consumption is too large. Spool-type servo valves currently used allow leakage of air from a sliding portion of a spool. Therefore, in robot systems, vibration and noise of compressors are big problems. Reducing leakage of servo valves can solve these problems and save energy. In this study, we develop a 4-port pinch-type pneumatic servo valve controlling flow by pinching air tubes, aiming at a leak-less servo valve. Almost all existing pinch-type valves are 2 or 3 port and proportional valves, aiming to control flow of slurry and medicine. There are no 4-port pinch-type servo valves. Experimental results showed that the leakage was lower than 1.7% of the rated flow rate and dynamic characteristics was approximately 30 Hz. We conducted position control experiments of a pneumatic cylinder using the prototype valve and showed the effectiveness.</p>

DOI： 10.5739/jfps.48.1

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To improve outcomes in surgery, surgical energy devices which perform coagulation and cauterization with shorter operating time, less thermal injury, and less adherence are required. In this paper, basic principles and cauterization mechanisms of cauterization method with steam-jet were studied. The steam-jet coagulator (SJC) was newly developed with dry-steam generator for effective heat-transfer with steam. The condensation heat-transfer coefficient at the surface was estimated through thermofluidic simulations and experimental temperature distributions inside the heated object by impinging steam-jet. The steam-jet of 10kPa(G) and 30kPa(G) were estimated to have the heat-transfer coefficients larger than 5.0×105 W/m2 under several design parameters. Histological images of coagulated hepatic tissues with the SJC, the bipolar electrocautery device, and the bipolar with the saline irrigation method were compared. The comparison revealed that steam-jet can coagulate tissue denser and can seal sinusoids better than the ones coagulated with the bipolar electrocautery device even if the saline irrigation method was used. Successful coagulation and cauterization were performed on the in-vivo experiment using porcine liver, and thus the feasibility of the proposed method was confirmed. Our findings represent the engineering principles, the histological mechanisms, and the feasibility in in-vivo situations of the contactless cauterization device using a steam-jet.

DOI： 10.14738/jbemi.36.2335

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Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： 10.5759/jscas.18.39

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DOI： 10.1155/2016/2804816

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1109/TMECH.2015.2415838

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：SAGE Publications Inc.  

DOI： 10.5772/60074

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DOI： 10.1002/rcs.1606

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DOI： 10.1109/TMECH.2014.2327223

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DOI： 10.1177/0142331214530423

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japan Fluid Power System Society  

This paper presents an advanced prototype of a pneumatically-driven forceps manipulator with force sensing capability using a simple flexure joint. Structural design of the integral-machined spring employed for the joint has been improved to prevent harmful buckling of the central backbone. This improvement successfully leads to performance enhancement of the joint position control and the external force estimation. In addition, theoretical models of the joint have also been improved : kinematic model considering backlash of wire-actuation and dynamic model considering non-linearity of frictional and elastic forces. Finally, an external force estimator based on a strict continuum model is designed, and its effectiveness is experimentally verified for one-DOF and combined two-DOF motion.

DOI： 10.5739/jfps.44.118

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Other Link： https://jlc.jst.go.jp/DN/JALC/10026481240?from=CiNii

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1109/TMECH.2011.2163415

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Publishing type：Research paper (international conference proceedings)  

DOI： 10.1109/SII.2013.6776706

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Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1016/j.procir.2013.01.012

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：日本フルードパワーシステム学会  

In this paper, a grip amplified glove consists of pneumatic artificial rubber muscles (PARMs) which are covered with an exoskeleton structure is developed. A bi-rticular mechanism with a PARM that is suitable for bending finger is realized. The glove has totally 10 DOFs consist of four units. To achieve power-assist motion properly, a PI control, which is based on the pressure value from the balloon sensor, is applied. Synchronized actuation of the PARMs adds to the users own movements provides power and support the grasping. As the balloon type sensors are used, electric circuits can be separated from the finger parts that have advantage in the use of hostile environment. To evaluate the validity of the glove, the skin surface electromyography (EMG) signals of muscles are measured during grasping. These results demonstrate that the eff ectiveness of the power amplified glove.

DOI： 10.5739/jfps.43.48

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：日本フルードパワーシステム学会  

This paper presents the first prototype of a pneumatically-driven forceps manipulator using a simple flexible joint for enhanced practicalities. A high performance spring component with wire actuation is employed for a two-degree of freedom (DOF) bending joint, and a two-DOF tendon drive system is implemented using four pneumatic cylinders. The kinematics is described using a continuum model and the dynamics are described as a linear elastic rod with the friction of wires. For the control system, a cascade controller with two control loops of the joint position and a pneumatic driving force is designed, which shows good performance at a sufficient working frequency for surgical operations. In addition, the forceps manipulator can estimate external forces using a disturbance observer. A link approximation model is introduced to design the observer for an intuitive approach. As the first step, the effectiveness of the force estimation is experimentally verified in the basic straight posture of the flexible joint.

DOI： 10.5739/jfps.43.62

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Fuji Technology Press  

DOI： 10.20965/jrm.2012.p0908

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：日本フルードパワーシステム学会  

In order to realize a pneumatic artificial rubber muscle (PARM) with high damping characteristics, we have developed a new actuator combining an ordinary PARM with a rubber bellows that uses a narrow tube as an air throttle. In the present study, in order to experimentally clarify the dynamic characteristics of the newly developed high-damping PARM, two of the newly developed high-damping PARMs driven by a spool-type servo valve are connected in parallel to a link that has a rod as an inertial load, constituting the driving system of a single joint. The same experiment was carried out using ordinary PARMs, and the superiority of the newly developed PARM is demonstrated. The characteristics of each component of the high-damping PARM, such as the PARM, the rubber bellows, the narrow tube, and the servo valve, are modeled assuming nonlinearity. Then, using MATLAB/Simulink, a nonlinear simulator for the newly developed actuator is developed. The simulation and experimental results indicate that the developed simulator is helpful in designing the newly developed pneumatic actuator.

DOI： 10.5739/jfps.42.114

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Language：English   Publishing type：Research paper (scientific journal)  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：日本フルードパワーシステム学会  

DOI： 10.5739/jfps.42.1

CiNii Books

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Language：English   Publisher：The Japan Fluid Power System Society  

In order to realize a pneumatic artificial rubber muscle (PARM) with high damping characteristics, we have developed a new actuator combining an ordinary PARM with a rubber bellows that uses a narrow tube as an air throttle. In the present study, in order to experimentally clarify the dynamic characteristics of the newly developed high-damping PARM, two such PARMs driven by a spool-type servo valve were connected in parallel to a link that has a rod as an inertial load, constituting the driving system of a single joint. The same experiment was carried out using ordinary PARMs, and the superiority of the newly developed PARM was demonstrated. The characteristics of each component of the high-damping PARM, such as the PARM, the rubber bellows, the narrow tube, and the servo valve, were modeled assuming nonlinearity. Then, using MATLAB/Simulink, a nonlinear simulator for the newly developed actuator was developed. The simulation and experimental results indicated that the developed simulator is useful for the design of pneumatic actuators.

DOI： 10.5739/jfpsij.4.1

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Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1109/IROS.2011.6094603

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DOI： 10.1016/j.precisioneng.2010.02.005

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Despite the great diversity of teleoperator designs and applications, their underlying control systems have many similarities. These similarities can be exploited to enable inter-operability between heterogeneous systems. We have developed a network data specification, the Interoperable Telerobotics Protocol, that can be used for Internet based control of a wide range of teleoperators. In this work we test interoperable telerobotics on the global Internet, focusing on the telesurgery application domain. Fourteen globally dispersed telerobotic master and slave systems were connected in thirty trials in one twenty four hour period. Users performed common manipulation tasks to demonstrate effective master-slave operation. With twenty eight (93%) successful, unique connections the results show a high potential for standardizing telerobotic operation. Furthermore, new paradigms for telesurgical operation and training are presented, including a networked surgery trainer and upper-limb exoskeleton control of micro-manipulators.

PubMed

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J-GLOBAL

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DOI： 10.1016/j.precisioneng.2009.01.008

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Japan Society of Mechanical Engineers  

DOI： 10.1299/kikaic.76.861

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1163/016918610X522559

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Publisher：ASMEDC  

<jats:p>Very often in teleoperation of surgical robots, we discover that there is some degree of uncertainty in terms of locating critical time delays necessary to establish criteria sustaining stable and safe surgical regimes. Within the stable and safe regimes optimal performance indices and critical time delays combine to deliver a greater motion rhythm for the teleoperation of surgical robots. In this paper, we apply a bilateral controller of the modified wave variable (MWV) type to locate critical time delays maintaining stable and safe teleoperation of a specific surgical robot. The controller implemented additional wave impedance in the wave variable transformations in order to focus more closely on force tracking. The effectiveness of the proposed controller and locate dynamics of specific phenomena that align with the cumulative energy density required to operate the surgical robot are investigated. Firstly, the stability of MWV is investigated in detail. Then, the effect of additional wave impedance is discussed theoretically. Finally, experiments are conducted for three degrees of freedom master and slave manipulators to demonstrate the effectiveness of the MWV. The controller provides superior position and force tracking performance compared to the traditional wave variable-based method. The proposed method can improve position and force tracking errors between the master and slave caused by the communication channel time delay.</jats:p>

DOI： 10.1115/imece2009-10833

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Robotics Society of Japan  

In this paper, a pneumatically driven forceps manipulator which is suitable for suturing task is developed. The manipulator has a wire drive rotating joint at the tip part and enables precise gripper rotation into practice. The gripper mechanism which consists of a small cylinder and slider-crank mechanism is proposed and implemented at the tip part. The gripper is driven by air pressure supplied through a fine tube so that the interference of other joints can be avoided. The gripping force of 20[N] is achieved. We constructed a master-slave system with the forceps manipulator and conducted some suturing experiments using a sponge object. It became clear that the forceps manipulator had good maneuverability and could estimate the external moment within the uncertainty of 10[mNm].

DOI： 10.7210/jrsj.27.538

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Other Link： https://jlc.jst.go.jp/DN/JALC/00333532124?from=CiNii

Language：English   Publishing type：Research paper (international conference proceedings)  

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DOI： 10.1109/IROS.2008.4650929

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DOI： 10.1016/j.physe.2005.06.009

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：日本コンピュ-タ外科学会  

DOI： 10.5759/jscas1999.7.25

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Language：Japanese   Publisher：医歯薬出版株式会社  

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Language：Japanese   Publisher：科学評論社  

J-GLOBAL

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Language：Japanese   Publisher：東京医科歯科大学生体材料工学研究所  

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Language：Japanese   Publisher：日本フルードパワーシステム学会  

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Language：Japanese   Publisher：日本工業出版  

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Language：Japanese   Publisher：The Society of Instrument and Control Engineers  

DOI： 10.11499/sicejl.54.655

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Language：Japanese   Publisher：産業開発機構  

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Language：Japanese   Publisher：日本工業出版  

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Language：Japanese   Publisher：産業開発機構  

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Language：Japanese   Publisher：電気評論社  

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Language：Japanese   Publisher：日本工業出版  

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper proposes a novel force sensing device for laparoscopic instruments using air flow rate, which has the advantages of MRI-compatibility, easy fabrication/sterilization and compactness, compared to conventional devices. The proposed force sensor works with air flows through pipelines to its sensing part. Forces acting on the sensing part can be sensed by measuring the air flow rates because the impedance of the air flow channels varies depending on the applied forces. Based on this principle, a prototype of 3-axis force sensor embedded in a laparoscopic forceps was developed. Effectiveness and feasibility of the measurement principle was verified through a primary experiment using the prototype.

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Language：Japanese   Publisher：耳鼻咽喉科展望会  

DOI： 10.11453/orltokyo.55.359

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Language：Japanese   Publisher：耳鼻咽喉科展望会  

DOI： 10.11453/orltokyo.55.359

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper presents the first prototype of pneumatically-driven forceps manipulator using a simple flexible joint for future miniaturization. A high performance spring component with wire actuation is employed for two-degree of freedom (DOF) bending joint, and two-DOF tendon drive system is implemented by four pneumatic cylinders. Using a continuum model for the kinematics, a PD controller with static and dynamic compensation is designed for the position control, which shows a good performance at 2.0 Hz enough for surgical operations. In addition, the forceps manipulator can estimate external forces using disturbance observer. A link approximation model is introduced to design the observer as the first intuitive approach. The force estimation can be achieved with an accuracy of 0.2 N in the basic straight posture.

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DOI： 10.1016/j.precisioneng.2010.02.005

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DOI： 10.1016/j.precisioneng.2009.01.008

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Publisher：The Japan Society for Precision Engineering  

DOI： 10.11522/pscjspe.2010S.0.991.0

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Haptic interfaces require mechanical components to transmit forces to an operator. However, if illusion can display sense of force to an operator, it is possible to develop a novel haptic interface without any mechanical components. In this paper, in order to develop such a interface, a pseudo-haptics resulting from only visual effects is studied. Fisrt, a user interface using visual tracking with a camera was developed to acquire the position of user's hand. A virtual coupling was used to provide the illusion. An experiment was conducted with the developed interface to evaluate the pseudo-haptics resulting from visual effects caused by the proposed method. In the experiment, ten subjects pushed the spring in virtual reality space with and without the virtual coupling. The experimental results indicated that all subjects tended to feel stronger pseudo-haptic sensations with the virtual coupling.

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Publisher：The Japan Society for Precision Engineering  

DOI： 10.11522/pscjspe.2010S.0.991.0

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Pneumatic isolation tables are widely used in high-precision processes and measurements to attenuate the vibration transmitted from the floor to the table, but also the vibration generated by the movement of the precision machine. In this paper, a new method for suppressing the second kind of vibration is proposed though feedback control of the differentiated pressure. The purpose of the feedback is to decrease the pressure time constant. Since the pressure change in the air-spring is very small, it is difficult to obtain the differentiated pressure by discrete simultaneous differentiation of pressure. Instead, this value is obtained through direct measurements by a pressure differentiator. Finally, the effectiveness of the proposed method is demonstrated experimentally.

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

The air spring for railway vehicle is usually passively controlled using a leveling (height control) valve with a sub tank to suppress the vibration of vertical direction. There are demands to reduce the space and to improve the controllability of the air spring for rail trains. In this research, the vibration of an air spring for railway vehicle is actively controlled by a pneumatic servo system. We proposed an active control method using an acceleration sensor, a relative displacement sensor, a laminar type flow sensor having high dynamic characteristics and a spool type servo valve. The flow sensor was used for linearization of the spool type servo valve. We applied the proposed method to a real air spring for railway vehicle having a mass of 800[kg]. The experiments were carried out for several frequencies especially at near the resonance frequencies and for several amplitudes of sinusoidal vibration given by a hydraulic driven vibration exciter. The results were compared with that of the passive control. The effectiveness of the proposed method was confirmed experimentally.

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Recently, many power-assist robots have been developed to support and amplify human muscle strength. These robots are expected to use in various fields such as medical welfare, rescue, agriculture, physical labor in the factory and so on. In these activities, one hand is always in active to accomplish the task. Therefore, the hand assist device is useful. There are several researches to assist the hand. Pneumatic actuators are used because of high power weight ratio and light in weight. However, the degree of freedom (Dof) is yet to be enough. In this paper, a grip amplified glove using bi-articular driving mechanism is proposed and developed. Pneumatic artificial rubber muscles (PARM) are used as the actuator. The glove has totally 10 Dofs. The glove has the feature that the electrical sensors are away from the wearable part. Therefore, the glove is environmentally-resistant. The effectiveness of the glove is demonstrated experimentally.

DOI： 10.1299/jsmermd.2009._1P1-E15_1

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J-GLOBAL

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Recently, many power-assist robots have been developed to support and amplify human muscle strength. These robots are expected to use in various fields such as medical welfare, rescue, agriculture, physical labor in the factory and so on. In these activities, one hand is always in active to accomplish the task. Therefore, the hand assist device is useful. There are several researches to assist the hand. Pneumatic actuators are used because of high power weight ratio and light in weight. However, the degree of freedom (Dof) is yet to be enough. In this paper, a grip amplified glove using bi-articular driving mechanism is proposed and developed. Pneumatic artificial rubber muscles (PARM) are used as the actuator. The glove has totally 10 Dofs. The glove has the feature that the electrical sensors are away from the wearable part. Therefore, the glove is environmentally-resistant. The effectiveness of the glove is demonstrated experimentally.

DOI： 10.1299/jsmermd.2009._1P1-E15_1

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

We have developed a forceps manipulator having force sensing using pneumatic actuators. In this paper, a pneumatically driven forceps manipulator which is suitable for suturing task is developed. The manipulator has a wire drive rotating joint at the tip part and enables precise gripper rotation into practice. The gripper mechanism which consists of a small cylinder and slider-crank mechanism is proposed and implemented at the tip part. The gripper is driven by air pressure supplied through a fine tube so that the interference of other joints can be avoided. The gripping force of 20 [N] is achieved. We constructed a master-slave system with the forceps manipulator and conducted some suturing experiments using a sponge object. It became clear that the forceps manipulator had good maneuverability and could estimate the external moment within the uncertainty of 10 [mNm].

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Recently, development and research of surgical manipulator has been widely performed. In order to realize safer and more precise operation, force measurement and feedback are required. In this research, we have proposed a forceps manipulator which is able to estimate external force without force sensors using pneumatic cylinders. Furthermore, in this paper, we developed a pneumatic manipulator supporting forceps. The prototype manipulator has 3-DOFs which are driven by pneumatic cylinders. We estimated external forces acting on the tip of the manipulator measuring pressures of the cylinders and compared them with outputs of a force sensor. Experimental results showed that the developed system successfully estimated the external force in x,y component.

CiNii Books

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Language：Japanese  

CiNii Books

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Event date： 2022

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Event date： 2022

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Event date： 2022

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Event date： 2022

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Event date： 2022

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Event date： 2021

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Event date： 2020.11

Language：Japanese  

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Event date： 2019.11

Language：Japanese  

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Event date： 2019.11

Language：Japanese  

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Event date： 2019

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Event date： 2018.11

Language：English  

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Event date： 2018.10

Language：English  

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Event date： 2017

Language：Japanese  

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Event date： 2017

Language：Japanese  

<p>While remote control system and Virtual Reality has been attracting attention, remote propagation of the sense of touch is desired. In the field, impact propagation in perception of stiffness is important expression for a sense of reality. However, many of haptic devices have issues to generate impulsive force. Tactile feedback such as pressure, vibration and skin stretch are vital factors for the sense of touch. We propose generating a skin stretch and modulated vibration to increase an impact propagation with driving a voice coil motor against fingerpad. In this paper, we report the concept of our pseudo impact propagation and experimental reviews of the proposed method.</p>

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Event date： 2016

Language：Japanese  

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Event date： 2016

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Event date： 2016

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Event date： 2016

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Event date： 2016

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Event date： 2016

Language：English  

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Event date： 2015.5

Language：Japanese  

In reconstructive surgery, thin blood and lymph vessels of about 1 mm in diameter are frequently anastomosed. Such tasks demand high dexterity of surgeons, but there is the problem that their dexterity decreases because specific surgical sites (submandibular region, nasal cavity, etc.) force them on awkward posture. A master-slave system may solve this problem because the master and slave can be separately arranged and surgeon can operate in comfortable posture. Therefore, the purpose of this study is to develop a master-slave system for reconstructive surgery. In this paper, we illustrate mechanical design of the developed slave manipulator and experimental results with this manipulator. The experimental results show that the developed manipulator has the resolution of less than 10 μm, the band width of 〜 Hz, and the master-slave system has good tracking property.

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Event date： 2015.5

Language：Japanese  

Recently, the study for master-slave surgical robots, which has bilateral force feedback control, is attracting a lot of attention. At the same moment, you need haptic interfaces which are effective for controlling these surgical robots safely and precisely. In our laboratory, we have developed some admittance-based haptic interfaces because these interfaces have some characteristics which are effective for robotic surgery. However, when those devices move, they generate a little vibration because those devices are designed with unduration wave gearing systems. This vibration makes ill effect for controlling surgical robots precisely. In this research, we design a new admittance-based haptic interface and taking away such vibrations.

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Event date： 2015.5

Language：Japanese  

Vitreoretinal surgery is one of ophthalmic surgery. Recently, the ophthalmic endoscope is sometimes used in vitreoretinal surgery. However, it is difficult to operate while using the ophthalmic endoscope in vitreoretinal surgery. Therefore, the robot which holds the ophthalmic endoscope is required. Here we present the design of a robotic holder for the ophthalmic endoscope and its control method. In addition, an experiment have been carried out to test our presented control method and the result suggest the effectiveness of our presented control method.

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Event date： 2015

Language：Japanese  

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Event date： 2015

Language：Japanese  

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Event date： 2015

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Event date： 2014.5

Language：Japanese  

Recently, movable-tip laparoscopes have been developed and commercially used. Many kinds of laparoscope holder control systems also have been developed and commercially available. Conventional laparoscope holders, however, cannot drive a tip joint of a movable-tip laparoscope. In this paper, we develop a laparoscope holder control system where a movable-tip laparoscope is held by the 4-DOF pneumatic-driven scope holder we developed, and the tip joint of the laparoscope is driven by a link mechanism using pneumatic cylinders. PD and PID control and feed forward control based on inverse dynamics of the scope holder and the device driving the tip joint are applied to the system.The experiment of the laparoscope position control shows that the laparoscope can be controlled to watch an object in different viewpoints in this system.

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Event date： 2014.5

Language：Japanese  

This paper proposes a pneumatic-driven three-fingered hand for robot assisted laparoscopic surgery which can estimate the external forces applied at the finger tip. The hand has a diameter of 10mm with three fingers. Each finger has 2 DOF and consists of two simple flexible bending joints with the diameter of 4.5mm. The joints are actuated by two pneumatic cylinders with stainless wires. The high backdrivability of the pneumatic actuators allows the estimation of external forces without the use of force sensors. The hand can estimate external forces using a disturbance observer. Continuum model with no-elongation assumption is used in the observer. The experimental results shows that estimations are successfully performed with errors of 0.3N in the horizontal direction and 0.1N in the vertical direction.

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Event date： 2014

Language：Japanese  

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Event date： 2014

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Event date： 2014

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Event date： 2014

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Event date： 2014

Language：English  

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Event date： 2013.5

Language：Japanese  

In the teleoperation system which can provide force display for an operator, the impedance control can enhance maneuverability. However, several sets of impedances decrease force sensitivity of an operator. It is difficult to avoid decreasing it, for there is no quantitative index about it in consideration of mechanical impedances at the moment. In this paper, we propose an index which is expressed with a formula about force sensitivity of the teleoperation system in consideration of them. This formula are derived under the assumptions that Stevens's low are satisfied, and we evaluate to what degree the tendency of the change between the value of it and actual human force sensitivity correspond . From the experimental results, we confirm the validity of it as an index of force sensitivity.

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Event date： 2013.5

Language：English  

In this study, a new method is proposed to enhance operational performance with surgical robot using the relation between haptic perception and human myoelectricity. Master-Slave type of surgical robot is utilized in this research. The robot is able to display force acted on the target by using force feedback. We experimentally distinguished operators' types of haptic perception by tests under relaxed and strained operational conditions. Then we measured EMG value under these conditions and got the EMG characteristics of certain operators. An empirical formula of force scaling factor was found to indicate the scaling factor with EMG value. Force feedback to the operator is altered by the scaling factor. Better operational performance was achieved by modifying scaling factor according to the haptic perception of the operator.

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Event date： 2013.3

Language：Japanese  

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Event date： 2013

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Event date： 2013

Language：Japanese  

従来の鉗子マニピュレータは腹腔内2自由度、腹腔外4自由度を有するが、腹腔外の上下、左右の動きがロボットの周囲で作業する助手の妨げとなっている。そこで妨げとなる腹腔外の2自由度を腹腔内に配置した、4自由度を有する鉗子マニピュレータの開発を行った。4自由度は2自由度の柔軟関節を2段組みとして、超弾性合金パイプとワイヤで駆動させる構造により実現した。また，位置制御実験を行い有効性の検証をした。

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Event date： 2013

Language：Japanese  

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Event date： 2013

Language：Japanese  

マスタ-スレーブ型遠隔操作において，視覚情報や筋電の利用でより効果的な力覚提示が可能と考え，その適用方法の提案を行った．視覚情報は本研究室の手術ロボットでの鉗子先端の関節部を利用し，剛性低下により屈曲を増大し過度な力を錯覚させ対象への負荷低減を行った．筋電による方法では力みによる力覚感度低下を考慮し，筋電を基にマスタ-スレーブ間の力の比率を調整した．また提案手法の有効性を被験者実験により評価した．

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Event date： 2012.5

Language：Japanese  

In the master-slave system with haptic sensation, the scaling method is effective that presents the observed force by scaling up or down. Selecting the scaling ratio with consideration of the human abilities, the safety and efficiency of works can be improved. Therefore, we aim to apply the scaling method to surgical robot we have developed. In this paper, we focus on perception ability using the pen-type haptic device. We characterize the direction of perception ability with the 3 DOF of translation, and confirm the availability of scaling method. Finally, we apply the scaling method to a simple work with a surgical robot, and discuss the effect of operability with the measurement data when the scaling ratio is changed.

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Event date： 2012.5

Language：Japanese  

In laparoscopic surgery, it is difficult to grasp organs such as liver, spleen and kidney using only slender laparoscopic surgery instruments. In this paper, we propose a three-fingered hand that can be inserted through a 10 mm trocar. Each finger is composed of two springs which are cut from cylindrical columns and driven by pneumatic cylinders to bend in order to achieve a soft grasp of organs. In addition to that, this mechanism helps us to estimate a grasping force for organs. Therefore, this hand is adequate for grasping organs. The mechanism of the hand is introduced. Then, the effectiveness of this hand is demonstrated with some experiments.

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Event date： 2012.5

Language：Japanese  

Laparoscopic surgery is an effective method as alternative to open surgery. Robotic manipulators with multi-DOF forceps have been reported. To ensure more intuitive and much safer manipulation, haptic sensation to operators is an indispensable function of the system. The high backdrivability of the pneumatic actuator allows the detection of external forces from pressure data and compliance control of the system without the use of force sensors. We have prototyped a model of surgical robot system, which has high performance in the estimation of external forces. In this paper, we developed a forceps manipulator with pneumatic drive having a rotating mechanism at the tip. The forceps has total 4-DOF including gripper. The redundant movement can be achieved with the 4-DOF supporting manipulator we have developed. Therefore, the forceps can improve the operability and external force estimation since the singular point can be avoided.

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Event date： 2012

Language：English  

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Event date： 2012

Language：English  

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Event date： 2011.5

Language：Japanese  

In the master-slave system, operators controls the master device based on visual information and sensory feedback. This suggests that the position sensors at the slave side are not always necessary. However, position signals are required to estimate the acting force to the slave using an observer which realize the force sensorless control. In this paper, we focused on the biological signals of the operator to estimate the slave side's condition which can be used to estimate the external force. For the early stage of the research, we investigate biological signals just before the contact motion with 1-Dof master-slave system. We measured EMG signals and gripping force of operators when pushing objects. We verified that predictive signals can be used for estimation of touching the objects.

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Event date： 2011.5

Language：Japanese  

Recently, pneumatic servo systems have been applied in several systems, such as pneumatic robot systems, aspherical glass molding machines, and a precise positioning stage to isolate vibration. Because air has a number of advantages, including compressibility, high power ratio, and low heat generation. Antagonistic drive is widely used in pneumatic robots to transform linear motion to rotation. However, the drive system is affected by the friction caused by tension and becomes unstable when the stiffness of the system becomes higher. Therefore, the control method and the configuration of the valves for the drive have still room for study. In this paper, we focus on antagonistic drive system with pneumatic actuators. Arrangement of the servo valves, the control method of the system and the influence of tension to the controllability are studied. Experimental results indicated that tension should be set by the minimum tension T_0. We also confirmed that the responsibility of the system can be improved by using the four servo valves for a single joint.

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Event date： 2011.5

Language：Japanese  

Recent active developments of master-slave systems to assist laparoscopic surgical operations are focused on the development of various forceps manipulators with bending DOFs at the tip. In this paper, we focus on a suturing operation. That is one of the most difficult tasks in laparoscopic surgery. In order to assist the operation, we have developed a new forceps having manipulation mechanism in which a micro pneumatic cylinder are in combined use to manipulate a needle at the tip. Besides it has gripping mechanism which generates strong gripping forces without causing interference to other joints, hence this forceps is adequate for suturing. We also conduct experiments on confirming the motion of manipulation.

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Event date： 2011

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Event date： 2010

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Event date： 2010

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Event date： 2010

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Event date： 2010

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Event date： 2010

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Event date： 2008

Language：English  

In the teleoperated minimally invasive surgery systems, measurement and display of sense of force to the operator is aproblem In this paper, we have developed a master-slave system having 7-DOFs for laparoscopic surgery, which can provide force feedback to the surgeon without using force sensors at the slave manipulator. Pneumatic actuators are used for the slave manipulation because they are effective for haptic devices due to the facility in measurement and control of their driving force. A control method to compensate the effect of the pipeline between the control valves and the actuators is proposed and applied. Then, an impedance control is applied to the slave manipulator and an admittance control is applied for the master manipulator. Finally, a bilateral control is achieved by combining the controllers. Experimental results show that the developed system successfully display the contact force on the slave side to the operator on the master side.

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Event date： 2008

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Event date： 2008

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Event date： 2007

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Event date： 2006

Language：English  

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Event date： 2006

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Event date： 2006

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Event date： 2006

Language：English  

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Event date： 2005

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Event date： 2005

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Event date： 2005

Language：English  

Recently, development of instruments for minimally invasive surgery has been considerably required. This surgical procedure, as compared with traditional open surgery, enables the incision smaller, and this result in less patient pain and shorter duration of hospital stays. However, it requires increased skill on the part of the surgeon. To solve this problem, robotic manipulators using electric actuators that have multi-DOFs at thetip of them have been reported as alternative to conventional instruments. These systems, however, has the problem that force sensing is difficult. In this paper, we propose a master-slave manipulator using pneumatic cylinders as actuators that can be useful for laparoscopic surgery. This system can provide force feedback to the surgeon from the differential pressure of the cylinders. We designed a bilateral dynamic control system using neural network for acquisition of the inverse dynamics. The obtained inverse dynamics is used for feedforward and estimation of the external force. Experimental results showed that the developed system successfully display the contact force.

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Event date： 2005

Language：English  

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Event date： 2004

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Presentation type：Poster presentation  

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Presentation type：Poster presentation  

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Presentation type：Poster presentation  

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Language：Japanese  

In the teleoperated minimally invasive surgery systems, the measurement and conveyance of sense of force to the operator is a problematic. We previously proposed a pneumatic surgical manipulator that is capable of estimating external force without the use of force sensors. However, the effectiveness of the force feedback also has not been verified for practical tasks. Although an impedance control is implemented in the developed master-slave system, it has been unknown how large the impedance values should be set. In this paper, we evaluate the influences of the force feedback and an impedance parameter on performance of surgical tasks. Experimental results indicated that force feedback allowed operators to enhance the performance of suturing task. We confirmed that there were most suitable values in viscous coefficient for block-transfer task.

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Language：Japanese  

Recently, many power-assist robots have been developed to support and amplify human muscle strength. These robots are expected to use in various fields such as medical welfare, rescue, agriculture, physical labor in the factory and so on. In these activities, one hand is always in active to accomplish the task. Therefore, the hand assist device is useful. There are several researches to assist the hand. Pneumatic actuators are used because of high power weight ratio and light in weight. However, the degree of freedom (Dof) is yet to be enough. In this paper, a grip amplified glove using bi-articular driving mechanism is proposed and developed. Pneumatic artificial rubber muscles (PARM) are used as the actuator. The glove has totally 10 Dofs. The glove has the feature that the electrical sensors are away from the wearable part. Therefore, the glove is environmentally-resistant. The effectiveness of the glove is demonstrated experimentally.

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Language：Japanese  

In the teleoperated minimally invasive surgery systems, measurement and display of sense of force to the operator is a problem. In order to carry out safer and more precise operations using robotic manipulators, force measurement and operator feedback are very important factors. We have proposed a pneumatic surgical manipulator that is capable of estimating external force, without the use of force sensors. However, there was a problem that the surgical manipulator could not work well in the abdominal cavity due to mismatch of working space between them. Also, the force estimation had a sensitivity of only 3[N] because of inertia and friction effect. In this paper, we newly developed an improved model of the surgical manipulator IBIS IVto solve this problem. We conducted some experiments including in-vivo experiment and confirmed that the effectiveness and improvement of the manipulator.

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Language：Japanese  

The air spring for railway vehicle is usually passively controlled using a leveling (height control) valve with a sub tank to suppress the vibration of vertical direction. There are demands to reduce the space and to improve the controllability of the air spring for rail trains. In this research, the vibration of an air spring for railway vehicle is actively controlled by a pneumatic servo system. We proposed an active control method using an acceleration sensor, a relative displacement sensor, a laminar type flow sensor having high dynamic characteristics and a spool type servo valve. The flow sensor was used for linearization of the spool type servo valve. We applied the proposed method to a real air spring for railway vehicle having a mass of 800[kg]. The experiments were carried out for several frequencies especially at near the resonance frequencies and for several amplitudes of sinusoidal vibration given by a hydraulic driven vibration exciter. The results were compared with that of the passive control. The effectiveness of the proposed method was confirmed experimentally.

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Language：Japanese  

Pneumatic isolation tables are widely used in high-precision processes and measurements to attenuate the vibration transmitted from the floor to the table, but also the vibration generated by the movement of the precision machine. In this paper, a new method for suppressing the second kind of vibration is proposed though feedback control of the differentiated pressure. The purpose of the feedback is to decrease the pressure time constant. Since the pressure change in the air-spring is very small, it is difficult to obtain the differentiated pressure by discrete simultaneous differentiation of pressure. Instead, this value is obtained through direct measurements by a pressure differentiator. Finally, the effectiveness of the proposed method is demonstrated experimentally.

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Language：Japanese  

Haptic interfaces require mechanical components to transmit forces to an operator. However, if illusion can display sense of force to an operator, it is possible to develop a novel haptic interface without any mechanical components. In this paper, in order to develop such a interface, a pseudo-haptics resulting from only visual effects is studied. Fisrt, a user interface using visual tracking with a camera was developed to acquire the position of user's hand. A virtual coupling was used to provide the illusion. An experiment was conducted with the developed interface to evaluate the pseudo-haptics resulting from visual effects caused by the proposed method. In the experiment, ten subjects pushed the spring in virtual reality space with and without the virtual coupling. The experimental results indicated that all subjects tended to feel stronger pseudo-haptic sensations with the virtual coupling.

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Language：English   Presentation type：Oral presentation (general)  

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This paper presents the first prototype of pneumatically-driven forceps manipulator using a simple flexible joint for future miniaturization. A high performance spring component with wire actuation is employed for two-degree of freedom (DOF) bending joint, and two-DOF tendon drive system is implemented by four pneumatic cylinders. Using a continuum model for the kinematics, a PD controller with static and dynamic compensation is designed for the position control, which shows a good performance at 2.0 Hz enough for surgical operations. In addition, the forceps manipulator can estimate external forces using disturbance observer. A link approximation model is introduced to design the observer as the first intuitive approach. The force estimation can be achieved with an accuracy of 0.2 N in the basic straight posture.

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Language：English   Presentation type：Oral presentation (general)  

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Language：English   Presentation type：Oral presentation (general)  

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Language：English   Presentation type：Oral presentation (general)  

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Language：Japanese   Presentation type：Oral presentation (general)  

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Language：English   Presentation type：Oral presentation (general)  

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Recently, development and research of surgical manipulator has been widely performed. In order to realize safer and more precise operation, force measurement and feedback are required. In this research, we have proposed a forceps manipulator which is able to estimate external force without force sensors using pneumatic cylinders. Furthermore, in this paper, we developed a pneumatic manipulator supporting forceps. The prototype manipulator has 3-DOFs which are driven by pneumatic cylinders. We estimated external forces acting on the tip of the manipulator measuring pressures of the cylinders and compared them with outputs of a force sensor. Experimental results showed that the developed system successfully estimated the external force in x,y component.

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Language：Japanese  

In the teleoperated minimally invasive surgery systems, measurement and display of sense of force to the operator is a problem. In this paper, a 7DOF forceps manipulator as slave has been developed using pneumatic actuators. We also developed a master manipulator using a delta mechanism and a gimbal mechanism with a force sensor and motors with reduction gears. In the developed master-slave system, we applied different impedance control to each manipulator. The force control type of impedance control is adopted without force sensor for the pneumatic slave manipulator. For the master manipulator admittance control is implemented. The experimental results indicated that the operator could feel the force at the slave side to a satisfactory extent.

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Language：Japanese  

We have developed a forceps manipulator having force sensing using pneumatic actuators. In this paper, a pneumatically driven forceps manipulator which is suitable for suturing task is developed. The manipulator has a wire drive rotating joint at the tip part and enables precise gripper rotation into practice. The gripper mechanism which consists of a small cylinder and slider-crank mechanism is proposed and implemented at the tip part. The gripper is driven by air pressure supplied through a fine tube so that the interference of other joints can be avoided. The gripping force of 20 [N] is achieved. We constructed a master-slave system with the forceps manipulator and conducted some suturing experiments using a sponge object. It became clear that the forceps manipulator had good maneuverability and could estimate the external moment within the uncertainty of 10 [mNm].

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Applicant：国立大学法人東京工業大学

Application no：特願2012-245703  Date applied：2012.11

Announcement no：特開2014-094039  Date announced：2014.5

J-GLOBAL

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Applicant：国立大学法人東京工業大学

Application no：特願2012-245704  Date applied：2012.11

Announcement no：特開2014-095953  Date announced：2014.5

J-GLOBAL

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Applicant：国立大学法人東京工業大学

Application no：特願2012-241952  Date applied：2012.11

Announcement no：特開2014-090800  Date announced：2014.5

J-GLOBAL

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Applicant：国立大学法人東京工業大学

Application no：特願2012-181863  Date applied：2012.8

Announcement no：特開2014-038075  Date announced：2014.2

J-GLOBAL

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Applicant：国立大学法人東京工業大学

Application no：特願2012-122489  Date applied：2012.5

Announcement no：特開2013-244377  Date announced：2013.12

J-GLOBAL

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Applicant：国立大学法人東京工業大学

Application no：特願2012-104142  Date applied：2012.4

Announcement no：特開2013-231482  Date announced：2013.11

J-GLOBAL

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Applicant：国立大学法人東京工業大学

Application no：特願2012-095039  Date applied：2012.4

Announcement no：特開2013-220273  Date announced：2013.10

J-GLOBAL

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Applicant：国立大学法人東京工業大学

Application no：特願2011-098178  Date applied：2011.4

Announcement no：特開2012-229980  Date announced：2012.11

J-GLOBAL

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Applicant：国立大学法人東京工業大学

Application no：特願2011-093557  Date applied：2011.4

Announcement no：特開2012-223363  Date announced：2012.11

J-GLOBAL

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Country：Japan

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Country：Japan

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