大腸内視鏡外科手術を支援する5自由度鉗子マニピュレータの提案

抄録

By integrating locally operated small surgical robots in a sterilized area, a surgeon can perform safe and accurate robotically assisted laparoscopic colorectal surgery. At present, there is no locally operated forceps manipulator that can operate within a small space while providing a wide working area on the abdominal wall. In the present study, a new 5-DOFs forceps manipulators which is selectable controlled by a handy remote controller that can act as a third arm for the surgeon was designed. The dimensions of the manipulator are 345 mm * 380 mm * 150 mm. The operating range is 0 ° to 90 ° for the pitch axis, ± 45 ° for the yaw axis, 200 mm for the insertion axis, 25 ° for the grasp axis and free rotation for the roll axis.