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

在这项研究中，一个多自由度的机器人镊子机械手已被开发，并提出了一个双边控制方案，保证稳定的主从系统中存在的时变通信延迟之间的主设备和从设备的全向弯曲运动的开发机器人镊子。此外，还提出了一种手术操作自动识别和奇异性判别的方法。基于对镊子的行为的测量，识别外科手术的类型。在手术奇异性识别方面，从手术者的表面肌电信号中提取特征，利用自组织映射将识别出的手术分为正常手术和奇异手术。

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.