Kawamura Kazuya, Seno Hiroto, Kobayashi Yo, Fujie Masakatsu G
Faculty of Science and Engineering, Waseda University, Tokyo, Japan.
Annu Int Conf IEEE Eng Med Biol Soc. 2011;2011:4538-41. doi: 10.1109/IEMBS.2011.6091124.
Medical technology has advanced with the introduction of robot technology, which facilitates some traditional medical treatments that previously were very difficult. However, at present, surgical robots are used in limited medical domains because these robots are designed using only data obtained from adult patients and are not suitable for targets having different properties, such as children. Therefore, surgical robots are required to perform specific functions for each clinical case. In addition, the robots must exhibit sufficiently high movability and operability for each case. In the present study, we focused on evaluation of the mechanism and configuration of a surgical robot by a simulation based on movability and operability during an operation. We previously proposed the development of a simulator system that reproduces the conditions of a robot and a target in a virtual patient body to evaluate the operability of the surgeon during an operation. In the present paper, we describe a simple experiment to verify the condition of the surgical assisting robot during an operation. In this experiment, the operation imitating suturing motion was carried out in a virtual workspace, and the surgical robot was evaluated based on manipulability as an indicator of movability. As the result, it was confirmed that the robot was controlled with low manipulability of the left side manipulator during the suturing. This simulation system can verify the less movable condition of a robot before developing an actual robot. Our results show the effectiveness of this proposed simulation system.
随着机器人技术的引入，医学技术取得了进步，这使得一些以前非常困难的传统医疗治疗变得更加容易。然而，目前手术机器人仅在有限的医学领域中使用，因为这些机器人仅使用从成年患者获得的数据进行设计，不适用于具有不同特性的目标，如儿童。因此，手术机器人需要针对每个临床病例执行特定功能。此外，机器人必须在每个病例中表现出足够高的移动性和可操作性。在本研究中，我们专注于通过基于手术过程中的移动性和可操作性的模拟来评估手术机器人的机制和配置。我们之前提出开发一种模拟器系统，该系统在虚拟患者体内再现机器人和目标的状况，以评估手术过程中外科医生的可操作性。在本文中，我们描述了一个简单的实验，以验证手术辅助机器人在手术过程中的状况。在这个实验中，在虚拟工作空间中进行模仿缝合动作的操作，并基于作为移动性指标的可操作性对手术机器人进行评估。结果证实，在缝合过程中，左侧操纵器的可操作性较低，机器人受到了影响。该模拟系统可以在开发实际机器人之前验证机器人移动性较差的状况。我们的结果表明了这种提议的模拟系统的有效性。
