2P1-G20 症例・個体差が再現できる気管挿管手技訓練ロボットWKA-2の開発 : 張力センサの開発と仮想コンプライアンス制御への応用

概要

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We would like to propose the advanced medical training method using Robot Technology (RT). It enables to reproduce real patient states according to operator's skill, provide quantitative information of trainees' operation, and objective evaluation to them from the quantitative information. For the purpose of these facts, we developed Waseda Kyotokagaku Airway-No.2 (WKA-2) which enables to reproduce various cases and individual differences. In order to physically interact with the operator during the training session, we implemented Virtual Compliance Control in WKA-2. As a result of fact, we also develop Tension Sensor to implement Virtual Compliance Control. In this paper, we present the system specification of WKA-2, and Tension Sensor in detail. Finally, preliminary experiment has been performed to verify the Tension Sensor for the Virtual Compliance Control.
2009-05-25