Title:
FORCE FEEDBACK DEVICE OF OPERATION ROBOT FORCEPS, OPERATION ROBOT SYSTEM, AND PROGRAM
Document Type and Number:
Japanese Patent JP2016154603
Kind Code:
A
Abstract:
PROBLEM TO BE SOLVED: To provide a force feedback device of operation robot forceps capable of feeding back external force applied on forceps during an operation to an operator without much changing the configuration of the forceps, an operation robot system, and a program.SOLUTION: A computing device 200 measures the shape and position of an internal organ surface from a photographed image of an organ, extracts a marker 73 attached to forceps 70 from the photographed image, measures the position of the forceps 70, obtains application force applied to the forceps 70 from the organ based on the results of these measurements, and provides an action according to the obtained application force to the operator. More specifically, a vibration generator 32 is disposed, which provides vibration to the operator. The computing device 200 changes the frequency of the vibration generated by the vibration generator 32 according to the magnitude of the application force applied to the forceps 70 from the organ.SELECTED DRAWING: Figure 6
Inventors:
NISHIDA SHINICHIRO
Application Number:
JP2015032898A
Publication Date:
September 01, 2016
Filing Date:
February 23, 2015
Export Citation:
Assignee:
UNIV TOTTORI
International Classes:
A61B17/28; A61B90/00; B25J3/00; G01B11/00; G01B11/24
Attorney, Agent or Firm:
Masamasa Shibano
Yasuhiro Nakanishi
Yasuhiro Nakanishi