2A1-A24 遠隔ロボット手術の最適環境構築を目指したリアルタイムシミュレーション技術の開発

概要

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Tele-surgery offers medical care even in a distant region and has already had a real clinical case with a special communication line. To make tele-surgery common method, surgical environment with a public communication line such as Internet is necessary. In this research, we quantified doctors' workloads with simulation system for constructing the optimal conditions for tele-surgery. Tele-surgery is composed of surgical robots system, affected area and network between doctor and patient. So reconstructing this environment in virtual space required surgical robots system, organs and network. We already developed and reported the simulation system consisted of the network simulator, master manipulators and virtual slave manipulators. In this paper, we developed a organs deformation simulator. This simulator used Mass-Spring-Damper method to describe the deformation. And this simulator was applicable to real-time presentation of deformation. The workload using this system was also evaluated with NASA-TLX
一般社団法人日本機械学会の論文