直感的操作可能な遠隔力覚臨場感手術システムの開発

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Recently, computer-aided surgical operation or robots for medical treatment have been applied not only domestically but also overseas, and they are expected more and more particularly in the medical field. In the aging society of the early 21st century one of the social backgrounds that demands for medical treatment for the elderly and home care have been increased rapidly and it is essential for the most advanced medical treatment to get fused with sophisticated engineering technology has caused this tendency. Above all, development of tele-supporting system for surgical operation has become a driving-force for research development because of its significance and impact on the society.There exist two major trends about technological development. One is a computer-aided technology to make operation instruments intelligent aiming to automatize work and save labor in order to reduce the number of the staff working in the operating room. The other is technology of virtual reality and tele … More -robotics for operators themselves to carry out surgical, operation with some feeling of touching tissue by facing the operation environment in the remote site virtually. Both are now essential for the minute operation technology.In this study, we aimed to realize an intuitive-manipulable tele-system for surgical operation in conformity with natural human movements.1. Operations on which the suggested system has a good effect were sorted out, and the manipulation task simulating these operation contents was set. Based on it, what scaling parameters (position, force) are optimal was investigated experimentally in cooperation with doctors. The scaling Parameters that the operator himself thought it easy to manipulate were made much of, and why the scaling was reasonable was made clear to the contrary Also the impedance of the skill of the operator was measured and analyzed at the same time, and the relation with the ability was investigated from a viewpoint of dynamics.2. In case of suture, as a needle is thrust into tissue, the weight of visual information declines because the needle becomes invisible. Instead, by augmenting the stabbing resistance, the weight of visual information is increased. Because, however, both force-tactile information and visual information are important for the operator, a virtual needle was put to overlap on the real image by using multi-virtual reality technology. This made the environment that the needle was seen through virtually, and the intuitive manipulation became feasible because the movements of the needle in the tissue could be identified and could become coherent to force. Moreover, to reproduce soft living tissue (liver, concretely) virtually, estimate of physical parameter, and the way of deformation and deformation force were evaluated quantitatively.3. Preparation for clinical trial and evaluation by the school of medicine was carried out. Less