Fumio Miyazaki

Rivival of Lyapunov's Direct Method in Robot Control and Design

The intent of this rather expository paper is to show the importance of Lyapunov theory in various aspects of robot control and design of robotic systems. Specifically it is shown that a rather classical linear PD or PID control method adopted in most modern industrial robot manipulators practically works well regardless of high nonlinearity and existence of strong couplings between joints in robot dynamics. In conjunction with this, a means of construction of adequate Lyapunov functions is provided.

2A1-A32 Analysis of operator-interface failures of a human-machine interface (FAce MOUSe) for laparoscopic manipulator system

We have developed a face tracking interface, called FAce MOUSe, for controlling the position of a laparoscope. In this paper, we evaluated our FAce MOUSe interface by analyzing operator-interface failures in an ex-vivo model. An ex-vivo experiment was conducted under laboratory conditions using a conventional laparoscopic surgical training box, standard laparoscopic equipments, and the AESOP system (Computer Motion, Inc.). Experimental subjects were five surgeons who had never used the FAce MOUSe. The FAce MOUSe’s mean success rate of Trigger Actions was 51.7 %, whereas the number of times for being misrecognized was zero for all subjects.

2A1-A33 Development of a face tracking type interface for laparoscopic manipulator system based on human engineering

In order for robotic devices to be introduced successfully into surgical practice, the development of intuitive and easy-to-use surgeon-robot interfaces is essential. We developed a human-machine interface of the laparoscopic manipulator system, called “FAce MOUSe” before. The proposed FAce MOUSe is an image-based system which tracks the surgeon’s facial motions robustly in real time and does not require the use of any body-contact devices, such as head-mounted sensing devices. The surgeon can easily and precisely control the motion of the laparoscope by simply making the appropriate face gesture, without hand or foot switches or voice input. We have developed a new robotic laparoscope positioning system for solo surgery based on a real-time, face-tracking technique. The developed man-machine interface is called “ FAce MOUSe Easy Click”. The ideal human-machine interface would be easy to operate and move the endoscope accurately and safely to the desired position. The proposed interface represents a promising approach toward this ultimate goal.