抄録
In recent years, surgical accidents increase with the increase of minimally invasive surgery such as laparoscopic surgery. Today most of the remote surgical robots that were developed use actuators such as motors, have the risk of producing excessive force. In this research, we proposed a safety operation tactics for remote surgical robot. This tactics consists of "Setting system of safety operation space" and "Variable compliance system". The former can prevent the collision between the forceps and the organs which is caused by the operation error by setting the operation space beforehand. The latter can reduce the collision force between the forceps and the organs which is caused not only by the operation error but also the movement of the organs by changing the compliance of the joints. These tactics were developed in our remote laparoscopic surgical robot "Hyper Finger" and we have tested and proven its effectiveness.
