2P1-C02 SPAS用手術ツール導入のための多自由度ガイドチューブの開発(医療ロボティクス・メカトロニクス)

概要

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A new concept of the single port access (SPA) surgery by using a newly developed Hyper Guide Tube (HGT) was proposed. The HGT has four joints and two flexible tool paths. Each joint was designed for the use of flexible surgical tools Micro Fingers (MF) developed in our laboratory, or other commercial equipments. While the outlet of the tool paths expand in the radial direction not only to make the working space of the MF without conflict, but also to make the camera sight clear. The remote control of the HGT enables a surgeon access the deep, narrow area of interperitoneal organs, then two tool paths provide the MF stable bimanual motion and the quick exchange the end effectors through them. In this paper, the concept of the remote surgery with the combination of the HGT and the MF, the design of the HGT, and the feasibility test in-vitro are described. In the experiment, the exchange motion and the combination work of the MF were successfully demonstrated.
一般社団法人日本機械学会の論文
2011-05-26