等張液灌流式腹腔鏡下手術のための臓器運動追従型レーザ手術ロボットシステムの開発

―水中運動物体に対するレーザ照射精度の評価―

抄録

Water-Filled Laparo-Endscopic Surgery (WaFLES) is a surgical technique which is performed by irrigating the abdominal cavity with liquid. By applying WaFLES to laser surgery, heat effect from the laser irradiation is reduced by cooling effect of the fluid irrigation in abdominal cavity. However, it is difficult to perform laser irradiation accurately inside the abdomen, because the organ is always floating in water by buoyancy. Therefore, we introduced a surgical robot system that enables a high-precision laser irradiation to a moving organ in abdominal cavity. In this study, as a fundamental consideration for carrying out a laser irradiation in WaFLES environment, we evaluated the irradiation accuracy of this robotic system while irradiating moving objects.