内視鏡下手術支援ローカル操作型看脱式術具マニピュレータ

抄録

Locally operated detachable end-effector manipulator (LODEM) that can support endoscopic surgery to expand the field of view effectively when operated by doctors working near the patient was developed. We proposed a third arm that collaborated and coexisted with the surgeon in clean area. It was based on a manipulator with detachable commercial forceps for handling internal organs that were operated by the surgeon locally and intuitively. The manipulator with five degrees of freedom was composed of a tool-positioning arm and detachable forceps with a wire-driven mechanism. The manipulator attached to the forceps was operated by the surgeon's hand or foot. The tip of the forceps, working through a restrained pivot point, was controlled in the horizontal and inserting directions. We made a prototype, and the dynamic characteristics were experimentally measured. LODEM was applied in experiments on the task model for operability and laparoscopic cholecystectomy for a beagle dog. It was confirmed that its operational, holding and tractive functions were good enough for practical use. The results of these experiments were being applied so that LODEM can be further improved for clinical use. It is concluded that this newly developed LODEM will be a great help in further developing robotic-assisted solo surgery.