| Budget Amount *help |
¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000)
Fiscal Year 2016: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2015: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2014: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
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| Outline of Final Research Achievements |
We developed a third generation of The Endoscopic Operation Robot (EOR), offering built-in haptic feedback and manipulation of the entire scope with one hand. Manipulation of the flexible endoscope is done entirely remotely. However, the inclusion of haptic feedback places a huge burden on the system. I developed a new program in which the haptic feedback in EOR version 3 does not function, and investigated differences in manipulability with and without haptic feedback to clarify the utility of the system. Haptic feedback is useful for remote control manipulation of flexible endoscopes. Moreover, we developed two manipulation systems for endoscopic forceps.
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