2P1-C10 単孔式手術支援ロボットのマスタマニピュレータにおける内視鏡操作及び術具操作の統合方法に関する検討(医療ロボティクス・メカトロニクス)

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  • 2P1-C10 Investigation into Operational Integration of Endoscope and Surgical Manipulator for Master Manipulator of Single Port Endoscopic Surgery(Medical Robotics and Mechatronics)

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Recently, robotic systems assisting single port endoscopic surgery (SPS) was developed. Our laboratory also developed a SPS assisting robot. It enables surgeons to manipulate position and posture of the endoscope. Joystick and foot switches are used to manipulate endoscope, however, this system is not suitable for manipulating endoscope and operability of endoscope is bad. It's because manipulating posture is rare in robotic surgery and not discussed the way of manipulating posture. This paper presents a basic evaluation of operability about manipulating position and posture of endoscope. In the experiment, we evaluate operability of position and posture independently.

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