ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 1P1-C07
会議情報
1P1-C07 遠隔腹腔鏡下手術用スレーブ・マニピュレータの開発(手術支援ロボティクス・メカトロニクス)
保中 志元恩田 一志杉田 直彦谷本 圭司田上 和夫家入 里志小西 晃造中辻 隆徳橋爪 誠光石 衛
著者情報
会議録・要旨集 フリー

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抄録
This paper describes the development of a slave manipulator for the tele-lapaloscopic surgery. The authors have investigated requirements and constraints for the slave manipulator. Based on the investigation, we developed a slave manipulator with 33 DOF, which consists of three arms. The center arm for endscope has 7 DOF ; 4 for preoperative setting and 3 for intraoperative driving. Right and Left arms for forceps have 13 DOF respectively; 6 for preoperative setting and 7 for intraoperative driving. With the help of respective DOF for preoperative setting, the manipulator realizes easy position setting. The paper also describes the experimental results for a laparoscopic cholecystectomy performed on a pig.
著者関連情報
© 2008 一般社団法人 日本機械学会
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