1A1-C17 超音波凝固切開装置を搭載した3自由度鉗子における先端回転制御法のシミュレーション(手術支援ロボティクス・メカトロニクス)

概要

論文の詳細を見る
Recently, Laparoscopic surgery is widely applied because of its minimal invasion. Ultrasonically activated scalpels(USADs) are widely used in laparoscopic surgery to incise and coagulate tissue simultaneously. However, it is difficult for surgeons to manipulate a USAD and approach to a target tissue because it has only a linear shape and limits the degree of freedom. To solve this problem, we developed the bending forceps with the small USAD on its tip. In this report, we proposed two types of control of tip-rotation for the developed forceps to achieve safe and easy operations for surgeons. One is the fixed posture control; and the other is the fixed position control. We simulated and compared those controls. As a result, we concluded that the fixed position control was more intuitive control than the fixed posture control.
一般社団法人日本機械学会の論文
2008-06-06