Quantification of operability for surgical robot using f-NIRS

• Miura Satoshi

  Graduate School of Science and Engineering, Waseda University

• Kobayashi Yo

  Graduate School of Science and Engineering, Waseda University

• Kawamura Kazuya

  Graduate School and Faculty of Engineering, Chiba University

• Seki Masatoshi

  Graduate School of Science and Engineering, Waseda University

• Nakashima Yasutaka

  Graduate School of Science and Engineering, Waseda University

• Noguchi Takehiko

  Graduate School of Science and Engineering, Waseda University

• Yokoo Yuki

  Graduate School of Science and Engineering, Waseda University

• Fujie Masakatsu G.

  Graduate School of Science and Engineering, Waseda University

Bibliographic Information

Other Title

• f-NIRS を用いた手術支援ロボットにおける操作性の定量化
• f-NIRS オ モチイタ シュジュツ シエン ロボット ニ オケル ソウサセイ ノ テイリョウカ

Abstract

Surgical robots have undergone considerable improvement by only mechanical performance in recent years, but the intuitive operability has not been quantitatively evaluated. This paper presents the brain activity measurement method to determine intuitive operability to design a robot with intuitive operability. The objective of this paper is to validate that the specific brain area which is the intraparietal sulcus activates if the user controls the slave manipulator positioned intuitively. In the experiments, while subjects controlled the hand controller to position the tip of the virtual slave manipulator on the target in the surgical simulator, we measured the brain activity through the functional near-infrared spectroscopy (f-NIRS). We carried out the experiment a number of times with the virtual slave manipulator configured in a variety of ways. The results show that the brain activated significantly with the specific slave manipulator configured such that the angles matched the human body. We conclude that the how strongly human feels the manipulator belongs to his body affects hand-eye coordination, which is related to visual and somatic sense feedback.

Journal

• Journal of Japan Society of Computer Aided Surgery

  Journal of Japan Society of Computer Aided Surgery 16 (2), 61-69, 2014

  The Japan Society of Computer Aided Surgery

Keywords

• surgical robotics
• medical robotics
• intuitive operability
• manipulator evaluation
• brain activity measurement

Details

• CRID: 1390001205509300608
• NII Article ID: 130005068820
• NII Book ID: AN1044100X
• DOI: 10.5759/jscas.16.61
• ISSN: 18845770
• ISSN: 13449486
• NDL BIB ID: 025788183
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I025788183
• Web Site: https://search.jamas.or.jp/link/ui/2015229170
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed