外耳道内を直動する内視鏡テレオペレーションシステム

抄録

By introducing locally operated surgical assistant robots in a sterilized area, a surgeon can perform safe and accurate robotically assisted transcanal endoscopic ear surgery. A new endoscopic teleoperation system with linear motion that can be used by the surgeon’s hand in the external auditory canal has been developed. The manipulator system consists of a master device using a ratchet gear and a follower device using a constant spring for safety. The manually control when the power is shut off to the follower motor leads to high speed drive outside. The motion scaling control can produce precise drive in the ear canal. Task required time and position error are shorter in reduced scale.