スライドスクリューワイヤ機構を備えた高自由度マニピュレータにおける制御システムの開発

抄録

While the single hole laparoscopic surgery is a minimally invasive surgical technique that offers high cosmeticity, it has the problem of interference between surgical instruments. Therefore, a high DOF manipulator with a sliding screw mechanism was developed to minimize interference of surgical instruments and to obtain a good working space. This mechanism was operated by driving motors with an embedded FPGA system using the LabVIEW development system, but it was difficult to obtain system stability due to the weight and installation cost of the control equipment. To solve such problems, we proposed to build a composite system of the proven Raspberry Pi and the microcontroller board Arduino and introduce it to the master-slave system.