腹腔内型操作デバイスによる手術助手ロボットのテレオペレーション

抄録

A new tele-operated manipulator for laparoscopic surgery performed by a surgeon in a sterilized area was developed. The manipulator system consists of a handy leader device and a forceps follower manipulator LODEM as the third arm. We propose the 5DOFs intra-abdominal type operating device with gimbals for the pitch and yaw axes, twin linear guides for the insertion axis, a free rotation for the roll axis, and a pinch for the grasp axis. The dimensions of the device are 100 mm × 180 mm × 220 mm, and its math is 450 g. The maximum mechanical backlash was measured. The crank-slider mobile LODEM is unilateral leader-follower controlled by the leader device. The leader-follower manipulator was confirmed.