Development of control method for surgical robot considering surgeon's trial and individual difference

2023 Fiscal Year Final Research Report

• Project/Area Number: 21K18075
• Research Category: Grant-in-Aid for Early-Career Scientists
• Allocation Type: Multi-year Fund
• Review Section: Basic Section 90130:Medical systems-related
• Research Institution: Tokyo Institute of Technology
• Principal Investigator: Miura Satoshi 東京工業大学, 工学院, 准教授 (70724566)
• Project Period (FY): 2021-04-01 – 2024-03-31
• Keywords: ロボット手術

Outline of Final Research Achievements

Since surgical support robots often differ in structure and form from the human body, intuitive control methods are necessary. However, it is difficult to determine the optimal solution for control design because of variations from trial to trial and from individual to individual due to differences in physicians' physique, intuition, and experience. In this study, the control design of the robot was optimized by rationally considering the variation in surgical accuracy, the doctor's joint energy (physical burden), and brain activity (cognitive burden) from trial to trial and from individual to individual. This study focused on three main areas: (A) derivation of a probability distribution model, (B) contribution elucidation by response surfaces, and (C) a satisfying trade-off method.

Free Research Field

医用システム

Academic Significance and Societal Importance of the Research Achievements

学術的独自性は、各人の動きやスキルの個性に適したテーラーメイド設計や、標準的・共通的な部分を抽出し万人に適したユニバーサルデザイン手法を確立する点にある。創造性は、多様な試行や人、構造のロボットに関わらず、操作者の能力を最大限かつ持続的に発揮しやすいロボットの制御設計を合理的に決定可能な点にあり、高い波及効果を有する。