2024 年 25 巻 4 号 p. 287-296
Interventional radiology (IVR) is a surgery, by which a catheter is inserted into a blood vessel and the treatment is performed under X-ray fluoroscopic images. However, the occupational exposure of the physician is a problem. To prevent occupational exposure, a remote surgery system has been developed by which the master device is operated by the surgeon and the slave device drives the catheter. In this study, a master device is developed to provide a stable force sensation. This master device presents force sensation by the characteristics of electro attractive material (EAM) by which force can be controlled by the applied voltage. The disadvantage of existing device was the unstable force sensation. By the newly developed device, the tip and the rear end of the ball screw were fixed using a shaft, and the eccentricity of the ball screw was reduced. Traction experiment was conducted by changing voltage applied to the EAM and eccentricity and traction force were measured. The eccentricity was reduced from 2.2 to 0.79 [mm] by 64% in vertical direction and from 1.6 to 0.85 [mm] by 47% in horizontal direction, and the maximum standard deviation of the traction force was reduced from 1.2 to 0.43 [N].
