吊り下げ型手術支援ロボットにおける鉗子ロボットおよび腹腔鏡ロボットの開発

抄録

In this paper, aiming at the development of a low-cost surgical support robot system that can present haptic sensations, a forceps robot with a robotic forceps that can detect a gripping force and a pressing force, and a laparoscopic robot for the suspended surgical support robot system were designed and built. Then, effectiveness of the built forceps robot, robotic forceps and laparoscopic robot was confirmed through some verification experiments.