Evaluation of Fatigue Level by NIRS in Palpation Using Surgical Support Robot

Abstract

In this paper, oxygenated hemoglobin concentration in the blood of the brain was measured by near-infrared spectroscopy (NIRS) when performing palpation using a surgical robot under feedback of the haptic force, tactile force and both haptic and tactile forces. Then, brain fatigue of the operator under difference of the feedback method was evaluated. As a result, both haptic and tactile forces feedback showed that the brain fatigue was smallest.