心臓のin vivo計測に基づくパラレルロボット型拍動シミュレータの開発

概要

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In this study, we developed a robotic heartbeat simulator which is able to simulate a heartbeat for quantitative evaluation of availability and safety of the master-slave surgical robot system with heartbeat synchronization mechanism. We got a design specification of the robotic heartbeat simulator from in vivo measurement by using an experimental animal (pig). Based on the specification, we fixed a parallel mechanism link parameter of the robotic heartbeat simulator by genetic algorithm (GA). We measured the working space of the robotic heartbeat simulator and we confirmed that the robotic heartbeat simulator has the desired operating range. Furthermore, we conducted heartbeat simulation experiment by the developed robot. The results showed that a maximum value of cross-correlation function between desired trajectory and measured trajectory was 0.98-0.99 in x, y, z, roll and yaw axis, 0.89 in pitch axis. By this result, we revealed that the robotic heartbeat simulator has a high performance to simulate a heartbeat.