手術支援ロボットのためのオートクレーブ滅菌可能な機構分離型マスタアーム

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  • Mechanically Separable Master Arm Possible to be Autoclave Sterilized for Surgical Support Robot

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<p>A new mechanically separable master device has developed that can be autoclave sterilized to master-slave control for a surgery support forceps manipulator (LODEM) with five-DOFs. The master device is separated into the handy mechanical part and the encoder sensor part connected to driving wires. The mechanical part uses a ball joint and gimbals for pitch and yaw axes, and linear guide for insertion axis. The operating range is ±70° for the pitch and yaw axes, and 0 to 100 mm for the insertion/extraction axis. The dimensions and the mass of the mechanical part are 126*126*345 mm and 1.0 kg. The dimensions and the mass of the sensor part are 160*87*200 mm and 1.4 kg. The backlash was 0.8°, 1.8°, and 0.6 mm respectively.</p>

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