2020 Volume Annual58 Issue Abstract Pages 257
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 gel (MRG) for the use of laparoscopic surgery.In this study, based on the results of magnetic circuit simulation, we devised a new joint structure using a permanent magnet and an electromagnet in order to reduce the amount of joule heat generated in the coil part. From the results obtained by the bending test, it was confirmed that this structure, i.e., so called "magnetic bias structure", was highly effective for reducing the energy consumption of the magnetic coils.
