ロボット・マニピュレータ (開発) (2)
We have been developing an endoscopic robot system that possesses two manipulators for surgical work in the gastric tubes. The robot possesses two arms whose distal part functions as forceps and are able to hold and handle soft tissues by the cooperative work of the right and left arms. In the first 1st stage of development, this robot system was used for Endoscopic Mucosal Resection (EMR). For the next step, we tried this endoscopic robot system for various kinds of surgery in the gastric
... in the gastric cavity to extend the region of application. We tried to penetrate the stomach wall from the inner side and made the robot approach the upper and lower part of the abdominal cavity to perform the surgery at the gall bladder, the deep part of the portal fissure and the oviduct. We performed this trial during an animal experiment and figured out the points of improvement of the robot system for surgery on those regions. Abstract: Recently, many remote controlled endoscopic surgical robots have been used in order to perform Minimally Invasive Surgery (MIS). However, to perform a less invasive surgery the development of a smaller-sized and flexible robot is required. Furthermore, it is necessary to scale down the human movements and scale up the contact forces to achieve a high maneuverability. However, when the manipulated environment is such small the scaling effects due to the high viscosity and friction of the environment have to be considered. The aim of this work is to develop a Control System adequate for Endoscopic Master-Slave System that was presented previously. To avoid the wire looseness or excessive tension an active control strategy was applied. Different scaling parameters were selected and the master-slave system performance was evaluated. In order to verify the control and mechanical system's performance some basic experiments were realized. Abstract: In Laparoscopic surgery, some master-slave manipulator systems were developed to assist the operating procedure. In order to achieve a sophisticated operation in a limited operating area, it is desirable to have following requirements in the master-slave manipulator system; (1) surgical tools are exchangeable easily according to the method of surgery, (2) the system is scalable to be integrated easily with an advanced technology such as an intra-operative imaging system. Concerning (1), we have developed some kinds of high-efficiency forceps such as semi-conductor laser forceps with CCD and bipolar forceps, laparoscope using wedge prisms with flexible viewpoint. On master-slave system, to use these devices smoothly, we have integrated the coordinate system of the each device with a three dimensional positioning sensor. Then, we have developed the scalable slave robot system using CORBA (Common Object Request Broker Architecture). In-vivo experiment was performed to demonstrate the performance of this system.