ロボット手術訓練のための触覚フィードバック機構を備えたモジュール式実験器具
An Experimental Modular Instrument With a Haptic Feedback Framework for Robotic Surgery Training
ロボット支援手術の訓練用に、手首搭載の力覚センサで組織との接触力を推定し、触覚デバイスにリアルタイムでフィードバックするモジュール式器具を開発し、ユーザー実験で視覚のみの場合より力調整精度と成功率が向上することを示した。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
5. 議論はある？
6. 次に読むべき論文は？
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著者: Walid Shaker, Mustafa Suphi Erden
分類: cs.RO, cs.HC, cs.SY, eess.SY
原文アブストラクト
Robotic-assisted surgery offers significant clinical advantages but largely eliminates direct haptic feedback, increasing the risk of excessive tool-tissue interaction forces. Although recent commercial systems have begun to introduce force feedback, their high cost limits accessibility, particularly for surgical training. This paper presents a modular experimental robotic laparoscopic instrument integrated with a real-time haptic feedback framework. The proposed instrument employs a wrist-mounted force/torque (F/T) sensor to estimate tool-tissue interaction forces while avoiding the durability and integration challenges of tip-mounted sensors. A haptic feedback framework is developed to extract the external contact forces, render them to the haptic device, and generate stable and perceptually meaningful feedback. The instrument is integrated into the robotic surgery training system (RoboScope) and evaluated through a controlled user study involving a force regulation task. Experimental results demonstrate that haptic feedback significantly improves task success rate, force regulation accuracy, and task efficiency compared to visual-only feedback. The proposed instrument enables stable, high-fidelity haptic interaction, supporting effective robotic surgery training.
