2P2-H06 ESD手術のための吸着式鉗子の開発(手術支援ロボティクス・メカトロニクス)

概要

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Endoscopic Submucosal Dissection (ESD) is a type of minimally invasive surgery. In this surgery, it is difficult to ensure the visibility of edges of the excised tissue when the surgeon performs the detachment of the submucosa. We have been developing a surgical tool that can uplift the diseased tissue using vacuum contact parts which doesn't damage the mucosal tissue and enables to inflect automatically. In this paper, we had experimented the retention force of surgical tool developed here for the gastric mucosa tissue of a pig. Experimental results indicated that this tool is able to produce the desired retention force using a polyester type vacuum pad, realized with blood vessel prosthesis, and the retention force can be obtained using the polyester type vacuum pad also on a inclined surface.
一般社団法人日本機械学会の論文
2011-05-26