2A1-C02 内視鏡下手術用鉗子のための先端変形・成形式エンドエフェクタ機構の開発

概要

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In the field of endoscopic surgery, increasingly thin instruments are desired in order to reduce the invasiveness of endoscopic procedures, widen the applicability of endoscopy, and develop devices for new procedures. However, the thinner endoscopic instruments become, the smaller the end-effectors of the instruments need to be, which limits the functionality of the instruments. To resolve this problem, we have developed the new forceps with Least-Incision Transformable End-effector (LITE) mechanism that is transformed into a large end-effector in body cavity. Experimental results show that the grasping force was more than 5.3N and the averaged time in transformation of LITE mechanism by surgeons was 86 second. We also confirmed the basic performance of LITE forceps on in vivo experiment using a pig.
一般社団法人日本機械学会の論文