多自由度手術用ロボット鉗子のディスポーザブル化に向けた機構の提案

抄録

Although the utilization of robotic forceps has reduced technical burden on surgeons from its constrained and difficult procedures, challenges for currently used robotic forceps such as their complicated structure, low durability, and high production and maintenance costs still remain to be solved. Regarding these challenges, in this study, we propose a conceptual design of a component of a compliant disposable robotic forceps with multi-degree-of-freedom for minimally invasive surgery. The robotic forceps are made of polymer materials, and the parts performing grasping movement consist of symmetrically arranged springs. This paper describes the mechanism of the forceps and evaluations using Finite Element Analysis. The evaluations reveal that the design with double springs gives lower stress distribution on the structure than ones with single springs while exerting same grasping force, which is key function for forceps.