Intraoperative Analysis of Surgeon's Motions and Construction of Timed Automata Based Model of Laparoscopic Surgery for Human-adaptive Surgical Robot System

Abstract

The main purpose of this study is to develop a human-adaptive surgical robot system for laparoscopic surgery that is controlled according to a surgical scenario. This study is intended to contribute to development of a Scrub Nurse Robot (SNR) for the OR, which hands surgical instruments to surgeons and receives them. Additionally, we construct a surgical scenario model for laparoscopic cholecystectomy surgery with timed automata. It is important to obtain effective intraoperative informations for the appropriate interactive control of surgical robots. This paper proposes an overview of the“Human Adaptive Mechatronics”-based surgical system and a construction method of an algorithm recognizing the intraoperative actions of a surgeon.