2A1-A20 腹腔鏡下手術用鉗子器具出しロボットの開発 : 第2報器具授受機能の高度化

概要

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Recently, the problem of the shortage of scrub nurse in operation rooms has become serious. To compensate for this shortage, we have proposed and have developed a prototype Scrub Nurse Robots (SNR) system to replace a human scrub nurse in assisting a surgeon during laparoscopic surgery with the exchange of surgical instruments. We evaluated Prototype SNR and recognized that R-1 was faster than a human scrub nurse in helping a surgeon exchange an electric knife and a blood aspirator, which were used most frequently during the operation, although R-2 was not faster in the case of the other instruments. We also report the development of the 2^<nd> SNR that can overcome the Prototype's weaknesses and make the working place small to be used in a small operating room. The 2^<nd> SNR becomes a one robot and recovers all of works that prototypes do, and adapts to other functions. The degree of freedom of 2^<nd> SNR's arm has been increased to 4.
一般社団法人日本機械学会の論文