Nakao Megumi, Imanishi Keiho, Kuroda Tomohiro, Oyama Hiroshi
Graduate School of Medicine, Kyoto University, JAPAN.
Stud Health Technol Inform. 2004;98:265-71.
Conventional display in robotic surgery such as flat displays or stereoscopic displays decreases obtainable information around target tissue. For supporting manipulation and performing safe surgery, this paper proposes a haptic navigation method, which enables surgeons to avoid collision with untouchable regions around target tissue by producing force feedback through a master manipulator. This paper also developed an input interface for assignment of 3D untouchable regions through 2D device. Simulator based experiment clears effectiveness of the proposed haptic navigation for improving safety of robotic surgery.
机器人手术中的传统显示方式，如平面显示器或立体显示器，会减少目标组织周围可获取的信息。为了辅助操作并进行安全手术，本文提出了一种触觉导航方法，该方法通过主操纵器产生力反馈，使外科医生能够避免与目标组织周围的不可触及区域发生碰撞。本文还开发了一种输入接口，用于通过二维设备分配三维不可触及区域。基于模拟器的实验证明了所提出的触觉导航对于提高机器人手术安全性的有效性。
