2008 年 46 巻 6 号 p. 606-620
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.