低浸襲外科手術用光駆動 SMA 能動鉗子

概要

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In this paper, we propose a new method to drive SMA (shape memory alloy) -pipe active forceps for minimally invasive surgery. Two actuation methods of SMA pipe have previously been introduced, namely, hot/cold water circulation, and electric heating. The former suffers from rather slow response. Although the latter shows better response, it is unsuitable for surgery of current-sensitive areas. In this paper, optical heating and gas cooling are newly proposed for heat transfer of the shape memory alloy pipe. The use of optical heating and gas cooling allows to actuate forceps in dry conditions, which simplifies sterilization and eases manufacturing process. It also opens the way to applying this forceps to surgery of current-sensitive areas, such as cardiac and cerebral surgery. The prototype active forceps is fablicated using KTP/YAG laser as light source, thin optical fiber (core diameter: 0.3 [mm] ) as light guide, and CO<SUB>2</SUB> freezing gas as coolant. Mathematical analysis provides fundamental heating/cooling performance. The prototype experimentally shows approximately 3 [sec] of heating/cooling speed.
社団法人日本ロボット学会の論文
1999-04-15