執刀医との音声インタラクションで操作する手術助手ロボット

抄録

A new voice interactive system to control an assistant manipulator for laparoscopic surgery performed by a surgeon in a sterilized area was proposed. The voice control system consists of a microphone, a limited word dictionary applied to speech recognition engine Julius, and a forceps manipulator LODEM as the third arm. We propose the voice interactive system with a rough drive mode of clock position and a precise drive mode of moving a bit after confirmation from the surgeon. The recognition rate of the dictionary and a motor drive using the rough mode was confirmed.