ピボット可動機構を有する内視鏡マニピュレータ

抄録

A locally operated surgical support robot holding an endoscope is introduced in a sterile area for otologic surgery, and a surgeon can perform robot-assisted transcanal endoscopic ear surgery (TEES) with low physical load and view stabilization. We have developed a new locally operated endoscope manipulator with a pivot movable mechanism that can be used by the surgeon as the third arm. The pivot movable mechanism for the endoscope lens is with a passive gimbal mechanism driven by a linear guided DC motor for its inserting and removal motion, and with three passive linear guides of Cartesian coordinates and another passive gimbal mechanism for the endoscope camera motion. The endoscope camera is manipulated by a vertical articulated robot.