Development of surgical robotic system for extending the indication of advanced laparoscopic surgery.

近年来，腹腔镜手术在世界范围内得到了迅速发展。随着光学系统、可变式仪器和其他手术器械的迅速进步和发展，其适应症也不断扩大。然而，在腹腔镜手术中，缝合和Kot捆扎等复杂的操作仍然是外科医生的难点，这就阻碍了其适应证的进一步扩大。本项目的目的是开发一种能够辅助先进的腹腔镜手术的主从式手术机器人系统，以使手术更容易和更安全。为了完成机器人系统的设计，利用运动捕获系统对开放手术和内窥镜手术的运动分析进行了比较。根据运动分析的结果，确定了手术机器人系统的优化设计方案。应用虚拟现实技术和数据手套技术对机器人系统执行机构侧的灵巧度进行了测试，并完成了详细设计。根据这些结果，建立了一个由6个自由度的操纵杆控制的手术主从式机器人系统的微型样机。同时，利用4套体模系统对外科医生手到机器人执行器的触觉传递进行了继续研究。我们未来的目标是完成一个具有完美触觉感知和力反馈的手术主从式机器人系统，该系统用户友好，能够在内窥镜手术中执行精确的操作。

Laparoscopic surgery has been developed rapidly in recent years all over the world. Its indication has been enlarged with the rapid advancement and development of optical system, disporsable devices and other operative instruments. However, complicated procedure in laparoscopic surgery such as suturing and kot tying is still difficult for surgeons, and this fact prevents the further extension of its indication. The purpose of this project is to develop a master-slave surgical robotic system which is able to assist advanced laparoscopic surgery in order to the surgery easier and safer.To complete designing the robotic system, the comparison of motion analysis between open surgery and endoscopic surgery was carried out using motion capture system. From the results of the motion analysis, the optimal design of surgical robotic system was established. Dexterity of the effecter side of the robotic system was tested applying virtual reality and data gloves, and the detailed design was completed. From these results, a miniature prototype of a surgical master-slave robotic system which had 6 degree of freedom and was controlled by a joystick (6 degree of freedom) was established. At the same time, we have continued the research about the transmission of tactile sensation from a surgeon's hand to a robot's effecter using 4 sets of Phantom system. Our goal in future is to complete a surgical master-slave robotic system with perfect tactile sensasion and force feedback which is user-friendly and able to perform precise manuever in endoscopic surgery.