多軸直動マニピュレータを用いた自動縫合機構の開発

抄録

The purpose of this research is to design and construct a unique mechanism which is composed of multi axes liner manipulators. Particularly, we paid our attention to the suturing operation such as corneal suture which require high technology by operator. To assist suturing operation, we develop the mechanism which can sew up something with cooperation movement. The mechanism is composed of three manipulators which have three degree of dimension and end effector. The manipulator can move rolling and pitching, liner. We conduct experiments in the working space with a diameter of 100mm and evaluate the experiment which can be carried out suturing operation automatically.