| Autor: |
Suzuki T; Institute of Environmental Studies, Graduate School of Frontier Sciences, The University of Tokyo, 7-3-1, Hongo, Bunkyo-ku, Tokyo 113-8656, Japan. t-suzuki@miki.pe.u-tokyo.ac.jp, Katayama Y, Kobayashi E, Sakuma I |
| Jazyk: |
angličtina |
| Zdroj: |
Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention [Med Image Comput Comput Assist Interv] 2005; Vol. 8 (Pt 2), pp. 81-8. |
| DOI: |
10.1007/11566489_11 |
| Abstrakt: |
This paper reports evaluation of compact forceps manipulator designed for assisting laparoscopic surgery. The manipulator consists of two miniaturized parts; friction wheel mechanism which rotates and translates forceps (62 x 52 x 150[mm3], 0.6 [kg]), and gimbals mechanism which provides pivoting motion of forceps around incision hole on the abdomen (135 x 165 x 300 [mm3], 1.1 [kg]). The four-DOF motion of forceps around the incision hole on the abdomen in laparoscopic surgery is realized. By integration with robotized forceps or a needle insertion robot, it will work as a compact robotic arm in a master-slave system. It can also work under numerical control based on the computerized surgical planning. This table-mounted miniaturized manipulator contributes to the coexistence of clinical staffs and manipulators in the today's crowded operating room. As the results of mechanical performance evaluation with load of 4 [N], positioning accuracy was less than 1.2 [deg] in pivoting motion, less than 4 [deg] in rotation of forceps, less than 1.2 [mm] in longitudinal translation of forceps. As future works, we will modify mechanism for sterilization and safety improvement, and also integrate this manipulator with robotized forceps to build a surgery assisting robotic system. |
| Databáze: |
MEDLINE |
| Externí odkaz: |
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