ローカル操作手術ロボット群のORiNを介した選択結合マスタスレーブ制御

抄録

A new locally operated master-slave multiple connection system for endoscopic surgery performed by a surgeon in a sterilized area was developed. The system can produce selectable connection for portable master devices and assistant slave robots as the third arm. We propose master-slave system between a forceps handle shaped operating device and a forceps robot LODEM which is selectable for Mobile LODEM or Guiding LODEM using a motion control board installed with middleware ORiN-based medical robot architecture MRLink. Furthermore, we propose on/off system between the operating device and an endoscope robot AESOP. Providers for these devices were constructed, and the master-slave system using robot integrator application connected to these providers was confirmed.