触觉钳—机电一体化在医疗器械的应用---外文翻译.doc

Medical mechatronics—An application to haptic forceps Abstract In this paper, a medical forceps system with tactile and force feedback ability desired by surgical robots is developed. Bilateral teleoperation systems can decompose into the common and the differential modes in acceleration based controller. The force servoing is attained in the common mode and the position error is regulated in the differential mode. In order to consider the conformity of force with position, the force servoing and the position regulator are integrated in the acceleration. The acceleration based controller is realized by using the disturbance observer. The disturbance observer makes a motion system to be an acceleration control system. In this paper, two evaluation indices of bilateral teleoperation are de?ned by analyzing 4ch matrix; ‘‘reproducibility’’ and ‘‘operationality’’. The forceps realizes wide frequency response for high force reproducibility. The experimental results show the viability of the proposed design and analysis methods. 1. Introduction Multimedia technologies are used as a brand new way of human communications. Audio or voice information is obtained through humans ears. And image or video information is obtained through eyes. Arti?cial acquisition and transmission of the information are basic technologies of traditional communication engineering.Tactile or force information is subject to the Newton’s law of action and reaction in real world. The reproduction of the haptic information does not permit the time delay. Furthermore, to reproduce vivid sensation, the haptic information should have wide bandwidth. In order to reproduce the haptic information, synchronism and interactivity are very important. In other words, the haptic information is a kind of bilateral environmental information. A realization of a system which acquires, transmits and reproduces the haptic information has been demanded for new communication devices. In recent years, realization of such