2A1-A06 Double-Screw-Drive機構を用いた低侵襲手術用多自由度鉗子の開発

概要

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This paper proposes a new laparoscopic forceps manipulator for minimally invasive surgery using the mechanism that we call double-screw-drive (DSD) mechanism. DSD mechanism is a link driven mechanism which enables omni-directional bending by rotating two linkages consisted of right-handed screw, left-handed screw and universal joint. The opening and closing drive of a gripper is also attained by rotating another linkage. Therefore, DSD mechanism realizes bending and gripping drive without using wires. The developed multi-dof forceps manipulator has a high rigidity and its bending range is wide enough, which is 90 degrees in any direction.
一般社団法人日本機械学会の論文