2A1-C22 単孔式内視鏡手術のためのマスタスレーブ方式ロボットシステムの開発

Abstract

To decrease the difficulty of SAS (Singe Port Access Surgery), this paper proposes an master-slave robotic surgical system for controlling surgical instruments in which a surgeon performs SAS as he or she performs normal endoscopic surgery. This system positions and controls robotic surgical instruments which respectively have the additional two DOF corresponding to bending direction and angle. Each robotic instrument has 6 DOF (two angles from trocar, insertion depth, rotation, bending direction, and bending angle). This system lets the robotic instruments to reflect the position and angle of the tip of instruments that the surgeon controls. To evaluate the validity of this system, we conduct experiments in which the surgeon watches the endoscopic image and controls input (master) instruments in order to control robotic (slave) instruments to target objects under the condition that the position of the endoscope is fixed. We conduct the experiments in two systems: one is virtual robot system, another is real robot system. This task simulates the control of instruments in endoscopic surgery. As a result, a surgeon can performs SAS tasks with the proposed system as perform them with the normal endoscopic style.