Design and Realization of a Teleoperated Robotic System for Improved Surgical Performance Using Haptic Feedback

这项工作的研究成果广泛涉及两个重要方面的现有机器人技术的手术：a）机器人机械手的设计，和B）触觉（人工触觉）。我们设计了三种新型的手术机器人操作器，并实现了三个可穿戴触觉设备，以提高手术和触觉性能。我们通过实验验证和用户研究证明了所提出的技术的有效性。建议的手术机器人设计进行了优化，以实现最大的运动学性能的手术工作空间内，尽可能小的机器人手臂的尺寸。我们的研究结果与触觉相关表明，手接地的触觉可以用来实现高度引人注目的触觉体验与紧凑的设备尺寸。这项研究的结果已发表在两个顶级期刊和两个同行评议的国际会议。这项研究还获得了2018年第62届系统，控制和信息工程师协会年会的最佳论文奖，以及IEEE机器人与自动化学会联合日本分会在机器人与自动化国际会议（ICRA'19）上颁发的2019年IEEE RAS JJC青年奖。

Research achievements of this work broadly relate to two important aspects of the existing robotic technology for surgery: a) robotic manipulator design, and b) haptics (artificial sense of touch). We designed three novel surgical robot manipulators and realized three wearable haptic devices for improved surgical and haptic performance. We demonstrated the effectiveness of the proposed technology through experimental validation and user studies. The proposed surgical robot designs were optimized to achieve maximum kinematic performance inside the surgical workspace, with smallest possible size of the robotic arm. Our findings related to haptics showed that hand-grounding of haptics can be used to achieve highly compelling haptic experience with compact device size.The findings of this research has been published in two top-tier journals and two peer-reviewed international conferences. This research has also been awarded with a Best Paper Presentation Award at the 62nd Annual Conference of the Institute of Systems, Control and Information Engineers 2018, and the IEEE RAS JJC Young Award 2019, by IEEE Robotics and Automation Society Joint Japan Chapter, at International Conference on Robotics and Automation (ICRA'19).