操作部に弾性体を用いたマスタスレーブ一体型手術支援システムの開発

抄録

In this paper, a master-slave integrated 6-Dof surgical robot operated by an elastic-body is proposed. Its rotational motions are manipulated by a controller using the elastic-body which is integrated in the proximal end of the robot. Its translational motions are directly operated by the surgeon. The controller allows the surgeon a wide range of motion, an intuitive operability, and a variable operational scale. We designed the elastic body and developed a control law. Finally, we confirmed the position control performance of the robot experimentally. We evaluated muscle fatigue of the arm using EMG during an operator performs a task using developed operation unit.