2A1-G25 力覚呈示システムを有する柔軟マイクロアクチュエータの医療応用

概要

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In this paper, we report an improvement of retractor for ESD (Endoscopic Submucosal Dissection). The retractor for ESD is designed to prevent medical complications such as haemorrhage and perforation. The retractor for ESD enables to resect the mucosa under observing the submucosa by holding the resected mucosa to the side. The developed device had a drawback in lifting of resected mucosa. It is required to improve generated force and prevent undesired deformation. Thickness of the retractor is modified so as to increase generated force. The tip of retractor is divided into two parts so as not to transmit the undesired deformation at the edge. The lifting force is successfully improved by 44 % due to the modification of the thickness. Two-pronged retractor can prevent transmission of undesired deformation between two-pronged structures. Moreover, master-slave system with a haptic feedback is developed to operate the retractor for ESD. The haptic feedback system is also modified to adapt its performance to the improved retractor for ESD.
一般社団法人日本機械学会の論文