| 摘要 |
PROBLEM TO BE SOLVED: To provide a force sense presentation system capable of presenting a force sense with high reality using a relatively inexpensive force sense presentation device actualizing a simple reaction force model.SOLUTION: A force sense presentation system includes: an actuator (20) which can be mounted with an auxiliary body (100) made of a viscoelastic material, and acts on the auxiliary body according to a given control coefficient so as to vary viscoelasticity of a surface of the auxiliary body; a force sense presentation device (10) which can be mounted with a surgical operation instrument (101), and applies reaction force to the surgical operation instrument additionally to reaction force from the auxiliary body according to the given control coefficient; and a control device (50) which holds target reaction force measured as to various objects of surgical operation in the form of a database, determines respective control coefficients of the force sense presentation device and actuator for target reaction force of the object of surgical operation selected from the database, and controls the force sense presentation device and actuator with the respective control coefficients. |
