2A1-A23 低侵襲手術用空間確保マニピュレータの開発 : 臓器に負担をかけないマニピュレーション

抄録

This research proposes a new endoscopic surgery operation securing "Surgeon's new field" to adjust the technique to more cases. We developed the Workspace-creation manipulator system based on 2N type tendon drive method and wire tension control, and the basic performance of two controls were performed, which are wire elasticity compensate type angle control that doesn't give internal organs too much displacement and direct control of joint torque that achieves retraction in minimum pressure using stress relaxation. And we experimented on the retraction of the pig brain in vitro by using the system, and confirmed the effectiveness of the two control methods.