1P1-C12 先端部に回転自由度を有する空気圧シリンダ内蔵型鉗子マニピュレータの開発(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 forceps manipulator having force sensing using pneumatic actuators. In this paper, a pneumatically driven forceps manipulator which is suitable for suturing task is developed. The manipulator has a wire drive rotating joint at the tip part and enables precise gripper rotation into practice. The gripper mechanism which consists of a small cylinder and slider-crank mechanism is proposed and implemented at the tip part. The gripper is driven by air pressure supplied through a fine tube so that the interference of other joints can be avoided. The gripping force of 20 [N] is achieved. We constructed a master-slave system with the forceps manipulator and conducted some suturing experiments using a sponge object. It became clear that the forceps manipulator had good maneuverability and could estimate the external moment within the uncertainty of 10 [mNm].
一般社団法人日本機械学会の論文
2008-06-06