1P1-F06 手術ロボット用フレキシブルマニピュレータの開発

抄録

Recently, minimally invasive surgery using surgical robot has been focused such as endoscopic surgery. However, there are some difficult cases that the surgical manipulator has reached operating field, further access to the deep intricate part or the back side of organ because the insert part of many surgical manipulator is linear shape. Therefore, it is considered that surgical manipulator tip itself is necessary to have both functions of expansion and flexion. Accordingly, it was focused that the muscle structure of elephant nose tip, as mechanism mimics which structure, the flexible manipulator with expansion and flexion functions has been developed. In this paper, it were described that the comparison between 3d motion analysis results of the mechanism and that calculated trajectory, and the operability.