2A1-C08 力覚提示機能を有する手術用ロボットの操作性に関する研究

概要

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In the teleoperated minimally invasive surgery systems, the measurement and conveyance of sense of force to the operator is a problematic. We previously proposed a pneumatic surgical manipulator that is capable of estimating external force without the use of force sensors. However, the effectiveness of the force feedback also has not been verified for practical tasks. Although an impedance control is implemented in the developed master-slave system, it has been unknown how large the impedance values should be set. In this paper, we evaluate the influences of the force feedback and an impedance parameter on performance of surgical tasks. Experimental results indicated that force feedback allowed operators to enhance the performance of suturing task. We confirmed that there were most suitable values in viscous coefficient for block-transfer task.
一般社団法人日本機械学会の論文