3次元計測データを利用した血管把持システムの基礎的検討

抄録

In recent years, demand of surgical robots has been increasing for use in various fields of surgery. Vascular surgery, in particular, requires a high degree of precision because it is directly related to the success or failure of the surgery. This study aims to automate vascular gripping operations using micro forceps. In this paper, we discuss a vascular grasping system that automates the gripping operation using the 3D data acquired by the ToF (Time-of-Flight) sensor. We tested to grip a simulated blood vessel model by measuring it with a ToF sensor.