Study for Dynamical Interaction between Surgeon and Surgery Assist Robot

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Laparoscopic surgery leaves the patient only small damage at the time of an operation, and the patient can expect postoperative early recovery. On the other hand, laparoscopic surgery is a very difficult operation for a doctor. Therefore development of the system, which mitigates the doctor's burden and enables the doctor carry out an operation correctly and easily, is called for. Then, in this research, the configuration differing combined master slave manipulator which supports laparoscopic surgery is proposed. And this research is aimed at the ability to make it enable the doctor to perform easily and correctly operation asked for high technique, such as a suture of internal organs and to mitigate the doctor's burden.This manipulator is positioning called advanced forceps rather than an surgery robot. Though it is a master-slave manipulator, the master and the slave are joined together in mechanism. Therefore, it is far small compared with the conventional master-slave surgery robot … More .Selection of a manipulator's structure became a problem in the design. Yaw, Pitch, Roll structure is desirable for the structure of the master part in consideration of a feeling of operation, or good operativity. But it is difficult to make the slave part into Yaw, Pitch, and Roll structure. Then, this research made the slave part different configuration from the master part. Two kinds of structures of the slave part were considered. One is Roll, Yaw, Roll structure and another is Roll, Pitch, Roll Structure. As the result which dispelled reverse kinematics, analyzed the motion of the slave part, and compared by conducting the experiment using the simulator, Roll, Pitch, Roll structure were chosen as the structure of the slave part, and the system was developed.Although making it different configuration enhanced a feeling of operation, the singular point appeared as a big problem. This manipulator is holding the singular point in the center of the movable range. In this research, the experiment using the system showed that it was possible to pass a singular point by changing the solution of inverse kinematics, and the good manipulator of a feeling of operation can be realized even if it was a configuration differing master slave manipulator. Less