Abstract
Surgical robots have contributed greatly to the development of minimally invasive surgery. Most studies on evaluation and design of surgical robots evaluate them in terms of mechanical performance, such as the time taken to complete a given task or the average speed of movement. However, since surgical robots are operated by humans, it is considered necessary to evaluate and design robots that include the unity between humans and surgical robots. In addition, since the surgical robot is operated by a human, there will be variations in work accuracy, etc., even when the same task is performed. Therefore, it is necessary to design surgical robots that take into account trial differences in evaluation indices and variations among individuals. The purpose of this study is to develop a surgical simulator with force feedback that reproduces an environment similar to the actual surgical environment. First, the surgical environment and surgical procedures to be reproduced by the surgical simulator were determined. Next, an approximate equation representing the relationship between stress and strain was obtained from the stress-strain diagram of the tissue. Then, a model of the process of needle penetration into the tissue was constructed. Finally, a force feedback system was constructed by combining the derived approximate equation and the needle penetration model.
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Sekine, R., Miura, S. (2023). Development of Surgical Simulator Providing Force Feedback from Organs. In: Okada, M. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2023. Mechanisms and Machine Science, vol 147. Springer, Cham. https://doi.org/10.1007/978-3-031-45705-0_10
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DOI: https://doi.org/10.1007/978-3-031-45705-0_10
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