Master-slave surgical robots have been studied and developed to support surgeons. Robotic functions such as motion scaling and hand shaking correction can extend the ability of surgeons. However, some problems are remaining in robotic surgery. Operation time which can become the burden to surgeons is still long. Surgeons must assess the situation, decide the next task correctly, and achieve tasks precisely in long operation. By conducting a part of surgical tasks by automatic motion of surgical robots, the burden to surgeons can be reduced. However, surgical tasks require skill of surgeons. Therefore, human skill must be incorporated in robotic motion. In this paper, a teleoperation system to conduct a ligation task by both the teleoperation and the automatic motion is presented. The teleoperation system is composed of haptic forceps robots implementing the motion reproduction system which is a method to preserve and reproduce human motion by a master-slave system. A ligation task is achieved by the bilateral teleoperation and the reproduced motion in the experiment. The saved motion and the reproduced motion are evaluated to validate the usefulness of the teleoperation system implementing the motion reproduction system.
展开▼
