抄録
Recently, small incision pediatric surgeries have been widely performed due to their minimally invasiveness. However, they make it difficult for surgeons to manipulate surgical tools. Robotic assist is required to reduce the workload for surgeons. Single port endoscopic surgery (SPS) assist robot we have developed is important option for it. It enables surgeons to perform precise operation using its tool manipulators. However, the operative field of a child is so tight that manipulators are limited for range of movement and hide working area from their view. We proposed the compensation method that complements the view by superimposing the image taken with added endoscope on forceps region of view. This paper presents a basic evaluation for validity of proposal method. In the experiment, delay time and resultant error of complemented image satisfied requirement specifications. In addition, we heard views of a pediatric surgeon on it.
