網膜硝子体手術におけるロボットの協調動作を用いた手術支援に関する研究

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  • Assistance using a pair of robotic arms for vitreoretinal surgery
  • -Comparison between pyramidical constraint and conical constraint-
  • ―角錐を用いた拘束と円錐を用いた拘束による自動制御の計算時間の比較―

抄録

<p>Tasks in vitreoretinal surgery are challenging even for expert surgeons since they target delicate tissues in the eyeball. Robots can be used to assist surgeons in performing such tasks accurately and safely. We have been developing an eye surgical robot comprised of a pair of robotic arms; one holding a light guide and the other holding a surgical instrument. In this study, we propose to autonomously control the pose of the light guide in accordance with the motion of the surgical instrument. To realize this autonomous control, we need a conical constraint for the surgical instrument’s motion, and we have approximated it using a pyramidical constraint in our previous work. However, the pyramidical constraint requires a high computational cost as their boundaries increase. Thus, we utilized a conical constraint in this study and compared its calculation time with that of pyramidical constraints with different number of lateral faces. The superiority of the conical constraint was demonstrated in a simulation.</p>

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