微細手術支援システムにおける顕微鏡拡大倍率とマスタ・スレーブ間動作倍率の協調に関する研究

抄録

The master-slave neurosurgical robotic system MM-3 was developed to assist with difficult tasks in neurosurgery. In this system, the hand motion of the operator is scaled down using the motion-scaling ratio. In this paper, we propose the modulation of the motion-scaling ratio based on microscope magnification. First, an experiment for a simple task was conducted by engineering students, and the result showed that the proposed method reduced both the task completion time and path length of the master manipulators in a coarse motion without compromising usability. However, the result of suturing experiment by neurosurgeons did not show the effectiveness of the proposed method. The method needs to be evaluated in a task that can be performed without errors. Customization of the motion-scaling modulation method according to individual doctor's preference needs to be investigated in the future.