Intuitive Operability Evaluation of Robotic Surgery Using Brain Activity Measurements to Clarify Immersive Reality

Surgical robots have undergone considerable improvement in recent years. But intuitive operability, which represents user interoperability, has not been quantitatively evaluated. With the aim of designing a robot with intuitive operability, we thus propose a method for measuring brain activity to determine intuitive operability. The purpose of this paper is to clarify the master configuration against the position of the monitor that best allows user to perceive the manipulator as part of his own body. We assume that the master configuration provides immersive reality to user as if he puts own arm into the monitor. In our experiments, subjects controlled the hand controller to position the tip of the virtual slave manipulator on a target in the surgical simulator and we measured brain activity using brain imaging devices. We carried out experiments a number of times with themastermanipulator configured in a variety of ways and the position of the monitor fixed. We found that the brain was significantly activated in all subjects when the master manipulator was located behind the monitor. We concluded that the master configuration produces immersive reality through body images related to visual and somatic sensory feedback.

Robotic patch-stabilizer using wire driven mechanism for minimally invasive fetal surgery

The clinical target of this study is intrauterine patch coverage of fetal myelomeningocele. We propose a new surgical robotic system for intrauterine fetal surgery with patch-stabilizer and laser manipulator. The target disease of the fetal surgery is spina bifida or myelomeningocele, which is incomplete closure in the spinal column and one of the common fetal diseases. In the fetal surgery, the collagen patch is supposed to be stabilized onto the fragile fetal tissue during the laser fixation process. In this study, a prototype of the patch-stabilizer using wire driven mechanism has been developed for precise force control on the patch without damaging fetal tissue. The diameter of the patch-stabilizer's shaft is 2.4 mm. The patch-stabilizer including one ball joint and wire driven mechanism is able to bend through 40 degrees. The stabilizing part holds collagen patch with diamond shape mechanism using wire driven. In this paper, we showed that the patch-stabilizer is developed with the stabilizing force control using the tension control of wires. Results of the experiment showed that the tension of driven wires was controlled at 0.3 N to stabilize the collagen patch onto the lesion surface without the damages of fetal tissues and the influence by the amnion liquid.