Brain activity measurement to evaluate hand-eye coordination for slave and endoscope in a surgical robot

Satoshi Miura*, Yo Kobayashi, Kazuya Kawamura, Masatoshi Seki, Yasutaka Nakashima, Takehiko Noguchi, Yuki Yokoo, Masakatsu G. Fujie

*この研究の対応する著者

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

Mechanical performance of a surgical robot can be evaluated and improved based on a working score; however, intuitive operability cannot be evaluated in this way. We propose a method that measures the user's brain activity for evaluating intuitive operability from the perspective of cognitive science. We hypothesized that hand-eye coordination, such as the slave configuration for the endoscope, has the greatest effect on intuitive operability, because it is the cause of physical differences between a human and a robot. The objective of this paper is to clarify the appropriate slave configuration for the endoscope to study hand-eye coordination using brain activity measurements. In the experiment, we used a brain imaging device, optical topography, to measure the users' brain activity while they controlled the hand-controller to position the tip of the virtual arm on the target. The experiment was carried out a number of times with the virtual arm position configured in a variety of ways. According to the results, some subjects showed peak performance with a specific slave configuration. We conclude that the slave configuration with the highest brain activity depends on the body image, which is a spatial symbol in the human brain from the perspective of cognitive science.

本文言語English
ホスト出版物のタイトル2013 IEEE International Conference on Robotics and Automation, ICRA 2013
ページ4356-4362
ページ数7
DOI
出版ステータスPublished - 2013 11 14
イベント2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
継続期間: 2013 5 62013 5 10

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

Conference

Conference2013 IEEE International Conference on Robotics and Automation, ICRA 2013
国/地域Germany
CityKarlsruhe
Period13/5/613/5/10

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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