回転式鉗子選択機構を持つカセット型軟性鉗子交換装置の鉗子選択動作特性評価

抄録

In laparoscopic surgery, it is difficult to treat deep inside the body because of the rigid and straight surgical tools. Thus, we have proposed a surgical system using cassette-type flexible surgical tools and a guide tube that can change the rigidity of the body for securing the path to the affected area. So far, we have developed the components of the cassette-type flexible surgical system: cassette-type flexible surgical tools, the rigidity changeable guide tube, a forceps actuating device, and a forceps exchanging device. However, the forceps exchanging device is still large and heavy. Therefore, in order to reduce the size and the weight of the forceps exchanging device, we proposed and developed a forceps exchanging device with a rotating cassette holder. Moreover, we evaluated the selecting forceps function. As a result, we observed that the device can select each cassette of the five cassettes placed inside the exchanging device in around three seconds.