直感的操作可能な遠隔力覚臨場感手術システムの開発

近年来，计算机辅助外科手术或医疗机器人不仅在国内得到了应用，而且在国外也得到了广泛的应用，特别是在医疗领域。在21世纪初的老龄化社会中，老年人的医疗和家庭护理需求迅速增加，最先进的医疗与尖端工程技术相融合是导致这一趋势的社会背景之一。最重要的是，手术远程支持系统的发展已经成为推动研究发展的动力，因为它的意义和社会影响。技术发展存在两大趋势。一种是计算机辅助技术，使手术器械智能化，旨在实现工作自动化，节省劳动力，以减少在手术室工作的人员数量。二是虚拟现实技术和远程…技术更多的机器人让操作者自己进行手术，虚拟地面对偏远地点的手术环境，带着一些触摸组织的感觉进行手术。在这项研究中，我们的目标是实现一个直观可操作的远程手术系统，该系统符合人类的自然运动。对建议系统效果较好的操作进行分类，并设置模拟这些操作内容的操作任务。在此基础上，与医生合作进行了实验研究，确定了最佳的比例参数(位置、力)。对操作者认为容易操作的标度参数进行了重点分析，阐明了标度合理的原因，同时对操作者技能的阻抗进行了测量和分析，并从动力学的角度研究了其与能力的关系。在缝合的情况下，当针刺入组织时，视觉信息的重量会下降，因为针是看不见的。相反，通过增加刺伤阻力，增加了视觉信息的权重。然而，由于力-触觉信息和视觉信息对操作者都很重要，因此利用多虚拟现实技术将虚拟针重叠在真实图像上。这使得针可以通过虚拟的环境被看到，直观的操作变得可行，因为可以识别针在组织中的运动，并可以使其与力保持一致。此外，为了虚拟再现软组织(具体为肝脏)，对物理参数的估计以及变形和变形力的方式进行了定量评估。为医学院的临床试验和评估做准备。较少

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