紀要論文

鉗子先端の視点変更を行う腹腔鏡ロボットの操作方法に関する研究

STUDY ON CONTROL METHOD OF A ROBOTIC LAPAROSCOPE TO CHANGE A VIEW POINT OF THE TIP OF FORCEPS

jpn

21879923

https://doi.org/10.15002/00022751

法政大学大学院理工学研究科

法政大学大学院紀要. 理工学・工学研究科編

61

1

8

2020-03-24

Version of Record

Recently, laparoscopic surgery has been performed frequently because its invasiveness is low compared with open surgery. In our previous study, a robotic laparoscope was developed, in which a motion sensor “Kinect for windows” was used for operating the laparoscope, so that surgeon can control the robot by his head’s motion. In this paper, to capture a desirable scene easily by the robotic laparoscope, a view point changing system was proposed. By using this system, the tip of the laparoscope is controlled to move along the spherical surface whose center is the tip of the peeling forceps and radius is distance from the tip of the laparoscope to the tip of the peeling forceps. Thus, surgeon can change the view point easily, keeping his eye on the forceps. Comparative experiments were carried out to demonstrate an advantage of the proposed system compared with conventional system. The results showed the effectiveness of the proposed system.

Article

AA12677220