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- TSUKIMOTO Yosuke
- Osaka Institute of Technology
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- KAWAI Toshikazu
- Osaka Institute of Technology
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- NISHIKAWA Atsushi
- Engineering Science, Osaka University
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- NISHIZAWA Yuji
- National Cancer Center Hospital East
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- NAKAMURA Tatsuo
- Medicine, Kyoto University
Bibliographic Information
- Other Title
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- ラックギアとギアトレイン機構を有する鉗子マニピュレータ
Abstract
<p>By integrating locally operated surgical assistant robots in a sterilized area, a surgeon can perform safe and accurate robotically assisted laparoscopic solo surgery. A new locally operated forceps manipulator that can be used by the surgeon as a third arm during laparoscopic surgery was developed. A new 3-DOFs forceps manipulator consists of the gimbal pitch axis, a rack gear and gear train for the RCM yaw axis, a belt and pulleys for the insertion axis attached to the commercial forceps. The dimensions of the manipulator are width 130 mm * depth 360 mm * height 360 mm. The weight is 2.1 kg. The positional accuracy of the new RSM mechanism was evaluated.</p>
Journal
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- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
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The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2021 (0), 1P2-C08-, 2021
The Japan Society of Mechanical Engineers
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Keywords
Details 詳細情報について
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- CRID
- 1390009062456176640
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- NII Article ID
- 130008135074
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- ISSN
- 24243124
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- Text Lang
- ja
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- Data Source
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- JaLC
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed