低侵襲手術支援用多自由度鉗子の開発(機械力学,計測,自動制御)

概要

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A laparoscopic surgery is performed through the incisions of 5 to 10mm. Unlike an open surgery, which cut off big part of patient's body, laparoscopic surgery requires only small incisions. Therefore time and cost of post-operative care is dramatically reduced. There are down side of laparoscopic surgery also. Surgeon has to perform surgery with less dexterity and perception. The aim of this paper is to propose the mechanism of the forceps with additional freedoms at the tip of the forceps. Unlike the actual forceps, proposed forceps realizes freedom inside the body without using an actuator. This actuator free forcep is simple and easy compared to actuator driven forceps. With the proposed forceps, immediate action following an accident is possible.
一般社団法人日本機械学会の論文
2006-06-25