抄録
Ultrasonically Activated Device (USAD) can treat tissues with coagulation and cutting ability, but it has large pitfalls in surgical procedure due to its straight shape. This sometimes makes surgeons to use this device from undesirable approach that might cause complications in surgery. We developed new method to mount small USAD unit on the tip of surgical manipulator with 2 bending DOF to realize safe approaches to target tissues, and verify the characteristics of a USAD.
