Pilot study on effectiveness of simulation for surgical robot design using manipulability

Kazuya Kawamura*, Hiroto Seno, Yo Kobayashi, Masakatsu G. Fujie

*この研究の対応する著者

研究成果: Conference contribution

抄録

Medical technology has advanced with the introduction of robot technology, which facilitates some traditional medical treatments that previously were very difficult. However, at present, surgical robots are used in limited medical domains because these robots are designed using only data obtained from adult patients and are not suitable for targets having different properties, such as children. Therefore, surgical robots are required to perform specific functions for each clinical case. In addition, the robots must exhibit sufficiently high movability and operability for each case. In the present study, we focused on evaluation of the mechanism and configuration of a surgical robot by a simulation based on movability and operability during an operation. We previously proposed the development of a simulator system that reproduces the conditions of a robot and a target in a virtual patient body to evaluate the operability of the surgeon during an operation. In the present paper, we describe a simple experiment to verify the condition of the surgical assisting robot during an operation. In this experiment, the operation imitating suturing motion was carried out in a virtual workspace, and the surgical robot was evaluated based on manipulability as an indicator of movability. As the result, it was confirmed that the robot was controlled with low manipulability of the left side manipulator during the suturing. This simulation system can verify the less movable condition of a robot before developing an actual robot. Our results show the effectiveness of this proposed simulation system.

本文言語English
ホスト出版物のタイトルProceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
ページ4538-4541
ページ数4
DOI
出版ステータスPublished - 2011
イベント33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011 - Boston, MA
継続期間: 2011 8 302011 9 3

Other

Other33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011
CityBoston, MA
Period11/8/3011/9/3

ASJC Scopus subject areas

  • コンピュータ ビジョンおよびパターン認識
  • 信号処理
  • 生体医工学
  • 健康情報学

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