1P1-H07 マスタ・スレーブ一体型マイクロサージェリー用機器に関する研究(手術支援ロボティクス・メカトロニクス)

概要

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This paper reports a new microsurgery assist device for cooperative manipulation. The device, which integrates master-slave manipulations, is easy to setup because of the miniaturization, lightening, and omitting drive motor. Performance of device mechanism shows that 1.32mm error involved position accuracy of x-axis direction and 2.80mm flexure of x-axis direction. Analysis on the facilities of the four forceps attached to the device show that screw forceps and curved forceps is effective in grasp and transformation task. Required times for simple task such as grasp and needle insertion show that the device is able to reduce the time in the case of using curved forceps and cooperation by 2 peoples. Also, end-to-end and side-to-side anastomosis works show that the device is able to perform by cooperation working.
一般社団法人日本機械学会の論文
2007-05-11