Abstract
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.
