Construction of master-slave training simulator for endoscopic surgery

最近，有几例内窥镜手术中的错误。一般来说，89。内窥镜手术中的医疗差错中有%是由于医生的技能不足造成的。现在有一些内窥镜手术的训练机器正在使用。然而，使用当前的培训方法，很难获得正确使用镊子的适当技能。因为他们不能训练如何正确地使用镊子，医生们不得不依靠他们的感官。因此，需要用于学习如何使用镊子的机器人。本研究介绍了新的培训模拟内窥镜手术，这是使用主从系统。该系统由一个主机器人和一个从机器人组成，主机器人由有经验的医生控制，从机器人由受训者使用。有经验的医生控制主机器人和从机器人工作在相同的运动作为主机器人。学员只需将手放在Slave机器人上，就可以体验到自己控制镊子的感觉。

Recently, there have been several cases of mistakes during endoscopic surgery. In general, 89.[%] of the medical errors in endoscopic surgery is due to skill shortage of the doctor. There are training machines for endoscopic surgeries that are being used today. However, with the current training methods it is difficult to acquire the appropriate skills for a correct usage of the forceps. Because they can't train how to use the forceps in the right way, the doctors have to depend on their senses. Therefore, a robot for learning how to use the forceps is needed. This research describes new training simulators for endoscopic surgery which are using the master-Slave system. The system consists of a master robot which an experienced doctor controls and a Slave robot which the trainees use. The experienced doctor controls the master robot and the Slave robots work in the same motion as the Master robot. The trainees just put their hands on the Slave robot and thus, they can experience a sensation of controlling the forceps by themselves.