生体医工学
Online ISSN : 1881-4379
Print ISSN : 1347-443X
ISSN-L : 1347-443X
研究
水圧駆動型内視鏡マニピュレータのin-vivo評価
谷口 和弘西川 敦小林 武治数原 幸平市原 貴晴倉下 直人関本 貢嗣瀧口 修司三吉 範克土岐 祐一郎森 正樹宮崎 文夫
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2008 年 46 巻 6 号 p. 606-620

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This paper describes the development of a novel laparoscope manipulator using the medical hydraulic linear actuators. The manipulator is composed of a Stewart-Gough platform with six degrees of freedom and six hydraulic linear actuators, and can hold a general laparoscope. In the current prototype, the position of a laparoscope can be controlled through a joystick interface. To evaluate the performance of the manipulators, three experiments were conducted in which each operating surgeon used the manipulator to perform an in-vivo laparoscopic cholecystectomy on a pig,respectively. Also, in the experiments, we measured the time to set the manipulator, the time to switch to normal operation from robotic one, and the time to clean lens of endoscope. As a result, the manipulator could replace a human assistant during the operation.

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© 2008 社団法人日本生体医工学会
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