手術助手ロボットをガングリップ型スイッチで操作するラズベリーパイ組み込みシステム

抄録

With the collaboration of locally operated small surgical robot in a sterile area, a surgeon can perform robotically assisted laparoscopic solo surgery. A new gun grip switch interface with Raspberry Pi embedded system to control a surgical assistant manipulator has been developed. The small embedded system running Ubuntu leads to the expanded function. The pistol grip shaped interface with kinds of button switches assigned to the thumb and the index finger can control the 3-DOFs forceps manipulator. The intuitive handheld switch interface can produce flat learning curves for the task model.