2P1-A01 ハプティック技術を応用した採血シミュレーション用デバイスの試作(医療ロボティクス・メカトロニクス)

概要

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Blood sampling is frequently performed for clinical tests and in blood donations, and the skill of needle puncture is improved by two ways: a simulation practice by using a human body model and experiments of clinical trials. However the simulation practice does not consider difference of kinesthetic sense in venipuncture between the subjects. In addition, the trainee cannot practice positively in the clinical trials due to the subjects' burden. In this study, a needle puncture simulator reproducing kinesthetic senses of venipuncture using haptic technology has been prototyped. A haptic device of human interface was developed and the force sensor was calibrated. As the results, 2 dimensional motion of venipuncturing could be reproduced and it was suggested that noise suppression of the force sensor was required. And a tissue model with viscoelastic characteristic should be integrated into the control of the device.
一般社団法人日本機械学会の論文
2011-05-26