1A1-C07 駆動ワイヤ非干渉型関節を用いた多自由度な可撓型術具の開発(手術支援ロボティクス・メカトロニクス)

概要

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We have developed a new flexible medical instrument to enable surgical treatment in the deep and narrow internal operative field of patients. This instrument is equipped with a forceps on the tip of a flexible tube through a 3-DOF (degree-of-freedom) interference-free wire-driven joint developed for a surgical manipulator. This instrument is also equipped with a manual-operation interface to manipulate the forceps and the joint on the other end of the flexible tube. The forceps and the joint are linked with the manual-operation interface by a wire that is fed through the flexible tube. The opening angle of the forceps is 90 degrees, and 2-DOF bending angles of the joint are ±125.5 degrees and ±106.5 degrees by operation with the manual-operation interface. The reaction time from the start of operation to the opening movement of the forceps is 0.009 seconds, and reaction times from the start of operation to the 2-DOF bending movements of the joint are 0.017 seconds and 0.014 seconds.
一般社団法人日本機械学会の論文
2008-06-06