MR流体デバイスと物体検出を用いたワイヤレスハプティックインターフェースの提案

抄録

Conventional teleoperation surgical robots can send the endoscopic image from follower to leader system. However, they cannot provide feedback on force information, such as force required to push an organ. Consequently, medical accidents have occurred because of excessive contact between organs and surgical, and psychological stress to operators. Therefore, we developed haptic devices using magnetorheological (MR) fluids. Furthermore, force sensing in the follower system is necessary for force feedback to the leader system. However, it is hard to attached to the tips of forceps or other instruments because electrical sensors must be sterilized. Therefore, we need contact-less force sensing methods. In this study, we proposed the Wireless Haptic Interface using a contact-less force sensing method based on object detection by YOLO v7. In addition, we created an object detection model using a biological model.