Abstract
Recently, surgical robot is used in biliary-pancreatic surgery. However, complications, such as failure of the sutures, occur frequently. Therefore, we propose a membrane suture supporting system that prevent from unintentional needle penetration that cause failure of the sutures. Our strategy is that predict the ease of needle penetration through membrane from strain of that. We investigated relationship between strain of tissue isolated from porcine jejunum and penetration force by needle insertion experiment. As a result, the following relationship was suggested; when the strain increased at a constant rate of change, the penetration force became constant, however when the strain exceeded a certain value with the tension, the growth rate of the strain decreased, and the penetration force decreased.
