コンプライアントメカニズムを用いたハンドヘルド型内視鏡治療用多自由度錯子の開発

抄録

Multi-DOF (Degree of Freedom) endoluminal forceps is a useful device for assisting endoscopic treatment. However, articulating endoluminal forceps with conventional mechanism have a large number of parts, thus have some problems such as size and cost. Multi-DOF endoluminal forceps using a compliant mechanism has a smaller number of parts, and is advantageous in terms of miniaturization and cost reduction. In this study, we developed a mechanical handheld device without a motor. In order to accurately manipulate the bending motion of forceps with a joystick, a force transmission model has been formulated. With reference to this force transmission model, a prototype was manufactured with a 3D printer. Finally, we succeeded in lifting the simulated intestinal mucous membrane by the prototyped forceps, confirming the effectiveness of the proposed method.