Abstract
Teleoperation may have a good application to surgical operation of patients in risky place in emergency case. For that reason, many efforts to develop a bilateral manipulator for teleoperation, especially with surgical purpose, have been made so far. In this research, a bilateral manipulator, which is a small master slave one with a 2-axis force sensor, has been developed for the intention of surgical teleoperation. This manipulator can move linearly with knife cutting while measuring the cutting force by its sensor. In author's future work, more attention will be paid to that force. Because the force information of manipulator's end effector is the most important one in the bilateral manipulation. In this paper, the authors are going to talk about its structure and its manipulability based on PID controller. Data from features of the 2-axis force sensor and some experiments of knife cutting are included as well.
