In recent years, natural orifice transluminal endoscopic surgery(NOTES)using a flexible endoscope is focused on to reduce burden of patients. Since NOTES is difficult for surgeons, flexible endoscopic robots also have been studied and developed. However, conventional robots for NOTES cannot transmit force sensation adequately. The lack of force sensation causes undesired injury. In this paper, a novel haptic forceps robot for NOTES is developed, and force sensation is transmitted by implementing four-channel bilateral control.

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This paper proposes a method of scaling bilateral control in the presence of time delay in terms of modal space. The bilateral control is characterized by a remote control, which return force information to the local site. Also, the bilateral control enable us to achieve dexterous tasks such as microsurgery by scaling the force/position response freely. However, bilateral control system has a problem, which is time delay, because interference between position and force control occurs and it degrades the performance and stability of the control system. In the time-delayed bilateral control, the force/position response con ict with each other, so it has been impossible to scale the force/position response separately. Hence, in this paper the control goals in bilateral control system under time delay is set to decouple force/position control. Moreover, the control goals enable us to scale force/position response in bilateral control system. The effectiveness of the proposed method is validated experimentally.