抄録
We have developed a new pair of forceps using a least-incision transformable end-effector (LITE) mechanism that transforms its end effectors by increasing its size within the body cavity. However, because of the resulting linear shape or fewer degrees of freedom, it sometimes makes surgeons to use this forceps in an undesirable manner possibly causing complications during the surgery. Therefore, this paper proposes the bending mechanism that can be mounted onto forceps that use the LITE mechanism, and to evaluate the usefulness of this forceps, we conducted in vivo experiments. The developed bending forceps whose diameter is 8 mm has 1-DOF bending mechanism that enables the LITE forceps to bend to one side by 45° upon the pulling of the wire. In vivo experiment on a pig was performed under simulated surgery condition to evaluate the usefulness of developed prototype. The transformation, grasping, and bending motion could be performed in vivo.
