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: 2A1-B23
会議情報
2A1-B23 視野を操作する機能を有する単孔式手術支援ロボットの開発
小林 洋伴野 裕関口 雄太渡辺 広樹豊田 和孝小西 晃造富川 盛雅家入 里志田上 和夫橋爪 誠藤江 正克
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会議録・要旨集 フリー

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抄録
We proposed a surgical robot for SPS with dynamic vision control, the endoscope view being manipulated by a master controller. The prototype robot consisted of a positioning (3DOF) and sheath (3DOF) manipulator for vision control, and dual tool tissue manipulators (gripping: 5DOF, cautery: 3DOF). Feasibility of the robot was demonstrated in vitro experiment. The "cut and vision control" is suitable for precise cutting tasks in risky areas while a "cut by vision control" is effective for rapid macro cutting of tissues. A restriction task was accomplished using a combination of both methods.
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© 2010 一般社団法人 日本機械学会
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