トロッカー拘束を有する直動鉗子付き手術支援ロボットのシミュレータ開発

―第３報 直動部自動調整による動作領域の確認―

抄録

Under laparoscopic surgery, surgeons insert forceps from small incisions and operate. Therefore, the motions of forceps are restricted. To design surgical robots, we developed the simulator for surgical robots with linear motion unit via trocar. In this simulator, the linear motion unit shortens depending on the arm angle and manipulability index. To evaluate the automatic adjusting linear motion unit, we developed another simulator, without the linear motion, to compare. From the comparison, we figured out that higher manipulability was obtained by the automatic adjusting. Furthermore, we evaluated the position of trocars. We compared the trocar positions with manipulability index and figured out that 0 or 10 degree position would be better to do the work under this simulation conditions.