Construction of a regulating system for avoiding malpractice for robotic surgical support systems

在本研究中，开发了一种多自由度机器人钳臂，针对所开发的机器人钳的全向弯曲运动，提出了一种保证主从系统存在时变通信延迟时的稳定性的双边控制方案。此外，还提出了一种自动识别外科手术及其奇异性的方法。根据测量的钳的行为，确定手术的种类。为了区分手术操作中的奇异性，从操作者的体表肌电信号中提取特征，利用自组织映射将识别出的手术操作分为正常和奇异两类。

In this research, a multi-DOF robotic forceps manipulator has been developed, and a bilateral control scheme which assures stability of the master-slave system in the presence of time varying communication delay between the master device and the slave device was proposed for omnidirectional bending motion of the developed robotic forceps. In addition, a method of identifying a surgical operation automatically and distinguishing the singularity of the identified surgical operation was also proposed. Based on the measurements of behavior of the forceps, the kind of surgical operation was identified. As for distinction of the singularity in surgical operation, the features were extracted from operator's surface electromyogram signals, and the identified surgical operation was classified into normal or singular using the self-organizing map.