Journal of Japan Society of Computer Aided Surgery
Online ISSN : 1884-5770
Print ISSN : 1344-9486
ISSN-L : 1344-9486
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Volume 17, Issue 2
Displaying 1-7 of 7 articles from this issue
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Preface
Reviews
Current State of Robotic Surgery #6
Original
  • Development of Bending Mechanism having Hydraulic Pressure Actuator for Endoscopic Surgery
    Shinichirou Suda, Takumi Kobayashi, Miyuki Matsuo, Takahisa Hiraragi, ...
    2015 Volume 17 Issue 2 Pages 83-90
    Published: 2015
    Released on J-STAGE: April 16, 2016
    DOIhttps://doi.org/10.5759/jscas.17.83
    JOURNAL FREE ACCESS
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    We developed a safe, minimally invasive articulated flexible endoscopic instrument that is actuated by hydraulic pressure. Metal close coiled helical springs, chemically covered in a vapor deposit membrane of evaporated parylene make up the hydraulic pressure actuators. Made from biocompatible materials, the actuators, specifically fabricated for endoscopic tools, hydraulically extend and contract linearly. The lateral side is static and held in place by a thin polyimide tube, when hydraulic pressure is increased to elongate the actuator, causing the corresponding side to bend. Two types of unidirectional articulating endoscopes consisting of multiple bending links were successfully developed, demonstrated, and their functions were confirmed.
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  • A Method of Bio-tissue Hardness Measurement by Force Sensor-less Organ Palpation Device
    Kenji Ogawa, Seiji Uozumi, Koyo Yu, Norihito Wada, Toshio Uraoka, Naok ...
    2015 Volume 17 Issue 2 Pages 91-100
    Published: 2015
    Released on J-STAGE: April 16, 2016
    DOIhttps://doi.org/10.5759/jscas.17.91
    JOURNAL FREE ACCESS
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    Palpation is a kind of fundamental method for detecting abnormal tissue. It is known as minimally invasive and easy method. However, palpation cannot measure the hardness of bio tissue quantitatively. In order to achieve quantitative palpation, this research proposes force sensor-less palpating method. The advantage of proposal method is to be able to measure bio tissue without considering the space for the force sensor. Therefore, it is possible to measure in narrow area. Validity of the proposed device is confirmed by the animal experiment.
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