| 研究実績の概要 |
This research has made substantial progress in the development of a visual-based stiffness sensor for minimally invasive procedures. By employing generative design in Fusion 360, the sensor was optimized for integration with a lightweight UFactory Lite6 robot. This setup was interfaced with the Robot Operating System (ROS), enabling remote manipulation and path replanning through a semi-autonomous navigation algorithm. The project established a remote system with the robot on one side and the Meta Quest on the other, enhancing the operator's control and visualization capabilities. The information gathered could be used for generating a real-time colour-coded stiffness map, promising to enhance the precision and safety of minimally invasive surgeries.
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