遠隔操作ロボットシステムにおける剪刀操作に関する生体組織挟み込み検知に関する研究

抄録

The authors are currently developing a tele-operated robotic system to deal with biological tissue in ISS – International Space Station for conducting scientific experiments. One of the challenges found through the development, is how we detect or prevent the “mis-pinching” that the biological tissues get pinched in between the scissors, making the system unable to further perform the manipulations. In this paper, we propose the detection method of pinching biological tissue focused on cutting force. Experimental results demonstrated that the method effectively detected the mis-pinching of biological tissues and can be further implemented on the tele-operated robotic system.