2P1-G29 腹腔鏡手術用体内組立式多自由度ツールの開発

概要

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We have developed a robotic system named "MICROFINGER(μFINGER in short)" for endoscopic treatment. The μFINGER, which has multi degrees of freedom and a small diametral manipulator, enables complicated treatment techniques and small wounds in laparoscopy. However, it could not reach a target area by itself because of the flexible body. In this report, we proposed a new laparoscopic operation with combination of multiple μFINGERs. A newly developed a "Guide Tool" constitutes 2 rigid bending joints, an approaching angle adjuster on one end, and manual angle controller unit on the other. After the Guide Tool and multiple μFINGERs are inserted separately, the Guide Tool is able to gather up to 3 μFINGERs and a flexible CCD camera around the end angle adjuster with magnetic system. One surgeon fixes the angle adjuster of the Guide Tool so that the tips of μFINGER can take suitable positions for each other, then another surgeon manipulates each μFINGER for bimanual endoscopic surgery.
一般社団法人日本機械学会の論文