Departmental Bulletin Paper 力覚フィードバック機能を有する単孔式腹腔鏡下手術支援用ロボット“HASROSS”の操作性の評価

大岩, 克耀

57pp.1 - 8 , 2016-03-24 , 法政大学大学院 理工学・工学研究科
In this paper, the maneuverability of a haptic surgical robot for single-port surgery (SPS), termed HASROSS, developed in our laboratory is evaluated. The kinematics of the surgical robot was analyzed and a position control method on the basis of inverse kinematics was proposed to control the surgical robot intuitively. The surgical robot operates under master–slave control implemented by the haptic interface Omega 7 and a force feedback is provided to the operator. The maneuverability of the surgical robot was assessed in a block transfer experiment, a ligation experiment and a grape peeling experiment. The completion times of forceps manipulation by robot operation were ompared with those of manual operation. To assess the force feedback functionality of the surgical robot, we tested whether the robot could properly contact and avoid obstacles using the forceps. The results verified the effectiveness of the HASROSS. Key Words : Surgical robot, Single port surgery, Maneuverability evaluation, Force feedback

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