1A1-C21 遠隔腹腔内手術用ハイパーフィンガーの開発 : (第8報)ワイヤ駆動多関節マニピュレータの駆動抵抗補償アルゴリズム(手術支援ロボティクス・メカトロニクス)

抄録

A new robotic system named "Hyper Finger" for remote minimally invasive surgery of deep organs has been developed. In this report we developed a new manipulator mechanism for Hyper Finger that has been reduced wire friction and interference between each joint. In addition, we developed compensation algorithm of driving resistance, so that the position trailing ability has been improved considerably. Finally, we demonstrated with a pig liver that improved Hyper-Finger can approach to the reverse side of a organ and suture a wound there.