2017 Volume 55Annual Issue 3AM-Abstract Pages 179
Laparoscopic surgery is rapidly replacing the conventional open surgery because of its less invasiveness, improvement of postoperative quality of life, less pain and better cosmetic result. However, the current surgical instruments may cause internal interference with other instruments during the operation and blind spot may occur due to its mechanical structure. To solve these problems, we have been developing a multi-joint manipulator using smart materials called magneto-rheological elastomers (MRE) for the use of laparoscopic surgery. In this study, we devised a prototype manipulator based on the optimal structure obtained by the electromagnetic field analysis and examined the elastic property of MRE-ring installed in the joints. From the result obtained, it was demonstrated that the stiffness of the MRE could be controlled by changing the direction of magnetic field between "Attractive" and "Repulsive", suggesting the availability of MRE for controlling the stiffness of the joint of the manipulator.
