Study for Dynamical Interaction between Surgeon and Surgery Assist Robot

腹腔镜手术在手术时只给患者留下很小的损伤，患者可以期待术后早期恢复。另一方面，腹腔镜手术对于医生来说是非常困难的手术。因此，需要开发一种减轻医生负担、使医生能够正确、轻松地进行手术的系统。接着，本研究提出一种可支援腹腔镜手术的异构式组合式主从机械手。本研究旨在使医生能够轻松正确地进行内脏缝合等高技术要求的手术，减轻医生的负担。这种机械手被称为先进的钳子，而不是手术机器人。虽然它是一个主从机械手，主，从连接在一起的机构。因此，与传统的主从式手术机器人相比，它的体积要小得多 ...更多信息 机械手结构的选择成为设计中的一个问题。考虑到操作的感觉或良好的操作性，横摇、俯仰、横摇结构对于主部件的结构是理想的。但是，从机构很难做成偏航、俯仰、横滚结构。然后，本文将从机部分与主机部分进行了不同的配置。考虑了从机部分的两种结构。一种是横摇、偏航、横摇结构，另一种是横摇、俯仰、横摇结构。通过消除逆运动学，分析从动件的运动，并利用仿真器进行实验比较，选择了Roll、Pitch、Roll结构作为从动件的结构，并开发了系统。虽然使其不同的配置增强了操作感，但奇点出现了一个大问题。该操纵器将奇点保持在可移动范围的中心。在本研究中，使用该系统的实验表明，它是可能的通过一个奇异点，通过改变逆运动学的解决方案，和良好的操作感觉，可以实现，即使它是一个配置不同的主从机械手。少

Laparoscopic surgery leaves the patient only small damage at the time of an operation, and the patient can expect postoperative early recovery. On the other hand, laparoscopic surgery is a very difficult operation for a doctor. Therefore development of the system, which mitigates the doctor's burden and enables the doctor carry out an operation correctly and easily, is called for. Then, in this research, the configuration differing combined master slave manipulator which supports laparoscopic surgery is proposed. And this research is aimed at the ability to make it enable the doctor to perform easily and correctly operation asked for high technique, such as a suture of internal organs and to mitigate the doctor's burden.This manipulator is positioning called advanced forceps rather than an surgery robot. Though it is a master-slave manipulator, the master and the slave are joined together in mechanism. Therefore, it is far small compared with the conventional master-slave surgery robot … More .Selection of a manipulator's structure became a problem in the design. Yaw, Pitch, Roll structure is desirable for the structure of the master part in consideration of a feeling of operation, or good operativity. But it is difficult to make the slave part into Yaw, Pitch, and Roll structure. Then, this research made the slave part different configuration from the master part. Two kinds of structures of the slave part were considered. One is Roll, Yaw, Roll structure and another is Roll, Pitch, Roll Structure. As the result which dispelled reverse kinematics, analyzed the motion of the slave part, and compared by conducting the experiment using the simulator, Roll, Pitch, Roll structure were chosen as the structure of the slave part, and the system was developed.Although making it different configuration enhanced a feeling of operation, the singular point appeared as a big problem. This manipulator is holding the singular point in the center of the movable range. In this research, the experiment using the system showed that it was possible to pass a singular point by changing the solution of inverse kinematics, and the good manipulator of a feeling of operation can be realized even if it was a configuration differing master slave manipulator. Less