2P1-B08 小児外科手術支援のための多自由度持針器の開発(医療ロボティクス・メカトロニクス)

概要

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In this paper, we developed multi-DOF forceps for pediatric laparoscopic surgery. Pediatric laparoscopic surgery has many advantages for patents, but it is difficult for surgeons to perform. The motion of the instruments is restricted by the insertion points, and the workspace of children is smaller than that of adults. Therefore, we have proposed and implemented a three-DOF and 3.5-mm-diameter needle driver for pediatric laparoscopic surgery. The grasping DOF of developed needle driver is piston type and actuated by wire. The deflection and rotation DOF are actuated by bevel gears. We checked the range of the deflection and rotation DOF and the grasping power. The experimental results showed that the developed needle driver fulfills all the requirements. Suturing experiment also implied that suturing tasks can be performed.
一般社団法人日本機械学会の論文
2011-05-26