Human Operability based Surgical Robot Design Method for robot control and manipulation

2016 Fiscal Year Final Research Report

• Project/Area Number: 26350536
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Medical systems
• Research Institution: Chiba University
• Principal Investigator: Kawamura Kazuya 千葉大学, フロンティア医工学センター, 助教 (50449336)
• Co-Investigator(Renkei-kenkyūsha): IEIRI SATOSHI 鹿児島大学, 医歯学域医学系, 教授 (00363359) ; IGARASHI TATSUO 千葉大学, フロンティア医工学センター, 教授 (70302544)
• Project Period (FY): 2014-04-01 – 2017-03-31
• Keywords: 手術支援ロボット / シミュレーション / 操作性評価

Outline of Final Research Achievements

In recent years, surgical robot has been developed to reduce the burden both patients and surgeons in endoscopic surgery. It is required to develop a master controller which can be improved operability of surgical robot for applying surgical robot widely. The development of master controller focused on operability is required a quantitative evaluation index. In this paper, we proposed three evaluation indexes focused on the burden of arms. We selected displacement and fine tremor in each joints of the arm and operation time. These indexes can be measured easily and quantitatively. We performed a reaching task using two master controller and compared between the results by each master controllers. As the results, displacement and operation time was suggested an influence on operation by the difference in mechanical structure. Fine tremor was suggested an influence on operability which could not be confirmed by other results.

Free Research Field

医用システム