抄録
The purpose is to develop intuitive interfaces possible to operate a forceps with manipulator on patient side. The manipulator for endoscopic surgery was locally operated by surgeon's hand or foot. We proposed a control method that passive free gimbals with manipulator were following a tip of forceps driven in plane on endoscopic view. Trajectories of the forceps operated by a foot mouse type mechanism were measured. Operation was continuous under 1.0 scaling ratio in x-y direction and 0.5mm in insertion direction, both as a single command. At horizontal movement, trajectory in x direction was intermittent in 1.0mm unit under the command 1.0mm and maximum error in y direction was 0.9mm for 10.0mm. At insertion movement, trajectory was continuous and maximum error in x direction was 0.4mm for 5.0mm. The preliminary operation experiments by a specialist show that changeable scaling ratio and control method adjusted for various beginning attitude were needed.
