手術ロボット用VRシミュレータを用いた血管吻合タスクの自動化に関する研究

抄録

The robotic anastomosis of blood vessels that are 0.8mm or smaller in diameter can be challenging for users that are not proficient in operating the robot. Our group is developing strategies to assure high performance and safety in robotic surgery even when an inexperienced surgeon operates the surgical robot, for instance, through robotic anastomosis automation. In this work, a virtual-reality simulator was used to show a preview of the robotic motion before the robotic instrument’s autonomous positioning. The proposed automation was evaluated using the number of collisions, and the results show that the preview has the potential to enhance safety.