1P1-C12 先端部に回転自由度を有する空気圧シリンダ内蔵型鉗子マニピュレータの開発(手術支援ロボティクス・メカトロニクス)

• 只野 耕太郎

  東工大

• 住野 亘

  コマツ

• 川嶋 健嗣

  東工大

書誌事項

タイトル別名

• 1P1-C12 Development of a forceps manipulator which has a built-in pneumatic cylinder

抄録

We have developed a forceps manipulator having force sensing using pneumatic actuators. In this paper, a pneumatically driven forceps manipulator which is suitable for suturing task is developed. The manipulator has a wire drive rotating joint at the tip part and enables precise gripper rotation into practice. The gripper mechanism which consists of a small cylinder and slider-crank mechanism is proposed and implemented at the tip part. The gripper is driven by air pressure supplied through a fine tube so that the interference of other joints can be avoided. The gripping force of 20 [N] is achieved. We constructed a master-slave system with the forceps manipulator and conducted some suturing experiments using a sponge object. It became clear that the forceps manipulator had good maneuverability and could estimate the external moment within the uncertainty of 10 [mNm].

収録刊行物

• ロボティクス・メカトロニクス講演会講演概要集

  ロボティクス・メカトロニクス講演会講演概要集 2008 (0), _1P1-C12_1-_1P1-C12_2, 2008

  一般社団法人 日本機械学会

キーワード

• Laparoscopic surgery
• Master-slave system Force feedback
• Pneumatic actuator

詳細情報

• CRID: 1390282680913083392
• NII論文ID: 110008696056
• DOI: 10.1299/jsmermd.2008._1p1-c12_1
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2008/0/2008__1P1-C12_1/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可