2P1-C05 内視鏡手術シミュレータにおける鉗子操作反力推定モデルの構築(医療ロボティクス・メカトロニクス)

概要

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In laparoscopic surgery simulators, to realize the operational sense as if a surgeon operates a forceps in the real surgery, the haptic parameters for a forceps are very important. In this paper, the model to estimate the reaction force for a forceps operation in laparoscopic surgery simulators is discussed to realize the operational sense in a laparoscopic surgery simulator. A sensor forceps in which various sensors is installed has been developed, and the movements and the reaction forces of the sensor forceps are measured when some surgeons use the forceps. The haptic parameters of the model are investigated based on the measured data. By using the obtained parameters in the laparoscopic surgery simulator, a trainer is able to realize more realistic reaction force.
一般社団法人日本機械学会の論文
2011-05-26