2P1-G20 小児外科手術支援のための多自由度鉗子の開発

概要

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This paper describes the development of a multi-DOF forceps for pediatric laparoscopic surgery. Pediatric laparoscopic surgery has two problems. Firstly, multidirectional suture using the conventional forceps is difficult because it has lower maneuverability. Secondly, the existing multi-DOF forceps cannot be applied to pediatric laparoscopic surgery due to its size. To resolve these problems, we proposed and implemented a three-DOF and 3.5-millimeter-diameter forceps for pediatric laparoscopic surgery with the triple-bevel-gear mechanism and the double-headed mechanism. Operating the developed forceps, we checked the range of each DOF's movements and the grasping power. The experiment showed that this forceps fulfills the requirements except the grasping power. In future, the developed forceps needs improvements in grasp DOF.
一般社団法人日本機械学会の論文