多自由度手術ロボットの直感的操作インタフェースの開発とその評価に関する研究

抄録

Intuitiveness of user interface in master slave control for multi-degree of freedom surgical robot is crucial to perform dexterous motions in surgery. Conventionally, eye-hand coordination, time-delay and haptic feedback are studied in tele-manipulation systems to increase the performance. Here, we take into consider a new paradigm - embodiment, in assumption that the performance would increase if the user can manipulate the robotic tool as though it became a part of the user’s own body part. To conduct a preliminary study, we implemented a robotic simulator that can allow the user to control a simulated robot under different configurations in VR scene, and conducted an elementary experiment.