多関節機構の駆動系に用いるスプリング特性の解析

抄録

A surgical instrument developed as a substitute for the conventional forceps for use during surgery is described. The new type of proposed forceps has a serial multiple link mechanism that consists of an oblique circular cylinder. The mechanisms installed in each joint consists of elongated springs, lock mechanisms with small springs, a lock-release mechanism, a release mechanism, a motion control mechanism, etc. Especially, we explain the analysis of characteristics of the small spring which is installed on lock mechanisms and the elongated springs. The position and orientation of tip on the forceps can be controlled by changing the rotation movement of each adjacent link. Each link is being connected by oblique circular cylinder shaped non-driven links and joints, and all links can be driven by the conduction force generated through the spring. Actuators are not installed at any places in the forceps manipulator. Also, the manipulator must be washable for use in surgery. It is possible to manipulate the forceps, cut out, and suture the target part in the narrow space while changing the shape of its whole part avoiding essential parts of the tissue as minimally invasive surgery in order to increase performance level and efficiency of surgery.