Effectiveness of Mechanical Design Optimization Using a Human-in-the-Loop Simulator for the Development of a Pediatric Surgical Robot
Source abstract
Abstract
In pediatric surgery, robotic technology is useful. However, it is difficult to apply this technology due to size-related problems. In our study, we proposed a mechanical design method using a human-in-the-loop type simulator, and the moving volume and invisible area were optimized. We also verified the effectiveness of the optimization of the mechanical parameters by applying the simulator to pediatric surgery. In this experiment, a needle-hooking task was carried out by four subjects with five types of mechanisms using the results of the Pareto optimal solution obtained in the previous research. Moreover, the accuracy of the needle tip manipulation was verified. It was confirmed that the accuracy was higher under the operation of the mechanism that satisfied the Pareto optimal solution in comparison with the other mechanism. As the operation was carried out based on movement in the direction of the arm, the moving volume decreased. Therefore, the accuracy of the hooking was found to improve. It would be useful to optimize the mechanism by verifying the moving volume and invisible area rate for the needle-hooking task. In future work, the optimization of the mechanism for procedures that require both hands will be carried out.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Soft Robotics and Applications · Surgical Simulation and Training · Anatomy and Medical Technology
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Center for Frontier Medical Engineering, Chiba University, Chiba 263-8522, Japan
Graduate School of Science and Engineering, Waseda University, Tokyo 169-8555, Japan
Graduate School of Engineering Science, Osaka University, Osaka 560-8531, Japan
Kagoshima University Hospital, Kagoshima 890-8520, Japan
Kyushu University Hospital, Fukuoka 812-8582 Japan
Department of Modern Mechanical Engineering, Waseda University, Tokyo 169-8555, Japan
Funding
the Ministry of Education, Culture, Sports, Science and Technology of Japan · Global COE Program in the Ministry of Education, Culture, Sports, Science and Technology of Japan
References (24)
Show source-provided references
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