主催: 一般社団法人 日本機械学会
会議名: ロボティクス・メカトロニクス 講演会2017
開催日: 2017/05/10 - 2017/05/13
A new spherical-coordinate manipulator with circular telescopic rail driven by slider-rocker mechanism has developed that can operate within a small space while providing a wide working area on the abdominal wall. The manipulator uses a circular telescopic rail in both directions driven by Rapson's slider for Pitch axis, rotation mechanism above pivot point for Yaw axis, and rack and pinion mechanism for Insertion axis attached to the forceps. The operating range is ± 45° for the pitch axis, ± 90° for the yaw axis, and 0 to 200 mm for the insertion/extraction axis. The dimensions of the manipulator are 230*215*295mm. The mass is 1600g. The positional accuracy was 1.3mm, 0.6mm, and 3.6mm respectively. The deflection of the mechanism was 4.9mm, 2.9mm, and 3.0mm respectively. A mechanism of Compact LODEM 2.0 was designed that allows minimally invasive robotically assisted endoscopic surgery.
