2A1-A19 遠隔深部腹腔内手術用ハイパーフィンガーの機能別ファミリー群の開発 : フィンガーの多機能化とワイヤ摩擦補償アルゴリズムによる操作制御の大幅向上

概要

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A new robotic system named 〓Hyper Finger〓 for remote minimally invasive surgery in deep organs has been developed. In this paper we add manipulators with the function of electro-scalpel to familly of 〓Hyper Finger〓, enable it to partially ablate lesion and suture the organs. Both operative procedures are necessary for the minimally invasive surgery. In addition we introduce the compensational algorithm of wire friction, considerably improve the position trailing ability of slave manipulators. Finally by the animal experiments with organs of pig we verify suture, ligation and partial hepatectomy on the front and backside, demonstrate the effectiveness of this system.