腹腔内手術用超冗長能動内視鏡の研究

抄録

Newly advanced active endoscope named “Hyper Endoscope” with hyper redundant degrees of freedom for future minimally invasive surgery in the abdominal cavity is developed. The first prototype of Hyper Endoscope equipped with several “Active Universal Joints”driven by miniature cybernetic actuators is constructed and controlled successfully. In order to achieve force sensational control of hyper endoscope, a micro master slave control system with force feedback is verified by introducing “dither” technique. This system is very useful for remote surgery as well as laparoscopic surgery.