水圧駆動型内視鏡マニピュレータのin-vivo評価(<特集>生体医工学シンポジウム2008)

概要

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This paper describes the development of a novel laparoscope manipulator using the medical hydraulic linear actuators. The manipulator is composed of a Stewart-Gough platform with six degrees of freedom and six hydraulic linear actuators, and can hold a general laparoscope. In the current prototype, the position of a laparoscope can be controlled through a joystick interface. To evaluate the performance of the manipulators, three experiments were conducted in which each operating surgeon used the manipulator to perform an in vivo laparoscopic cholecystectomy on a pig, respectively. Also, in the experiments, we measured the time to set the manipulator, the time to switch to normal operation from robotic one, and the time to clean lens of endoscope. As a result, the manipulator could replace a human assistant during the operation.
社団法人日本生体医工学会の論文
2008-12-10