Development of a control system for support equipment in operation support system.

抄録

　Lately, minimally invasive surgeries have been gaining popularity. Laparoscopic surgery is a type of minimally invasive surgeries and is known to minimize scars and reduce the damage of patients, which allows a quick recovery. However, since the surgeon performs surgery in the limited area in the abdominal cavity, the surgeon’s advanced techniques are required for operating forceps. As a countermeasure, we are developing an operation support system. The operation support system assists the surgeon to manipulate the forceps in the limited area. This system includes a support equipment and a master-slave combined robotic forceps. In this research, we will develop a control system for the support equipment. The paper will particularly outline overview and development of the operation support system for medical operations using a forceps and evaluate results of three control systems. As a result of the evaluation, it was confirmed that the developed system satisfies three functions.