準能動関節を有する挿入孔への位置合わせが不要な手術支援ロボットアームの開発

抄録

In this study, we develop a pneumatic surgical robotic arm not requiring positioning a RCM(Remote center of motion) of the robotic arm on an insertion port of a patient. We use a joint that do not have stiffness but have ability to output torque. We call this joint “semi-active joint”, and realize them with a pneumatic actuator with high backdrivability. Using the semi-active joint, the posture of the robot is formed passively by a constraint of the insertion port. Plus, the robotic arm can be expected to compensate external forces in abdomen. We controlled its end point in a constraint of the insertion port, and evaluated about accuracy of its movement and forces exerted to the insertion port.