1P1-O02 脳活動計測に基づいた手術支援ロボットの直観的な操作性評価(医療ロボティクス・メカトロニクス(1))

Abstract

The intuitive operability, representing user interoperability, has not been quantitatively evaluated in surgical robot. We propose a method for measuring brain activity to determine intuitive operability so as to design a robot with intuitive operability. The objective of this paper is to determine the angle and radius between the endoscope and the manipulator that allows users to perceive the manipulator as part of their body. In the experiments, while subjects moved 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 brain imaging devices. The results show that brain activation is significantly greater with a particular slave manipulator configuration. We conclude that the hand-eye coordination between the body image and the robot should be closely matched in the design of a robot with intuitive operability.