書誌事項
- タイトル別名
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- Forceps Manipulator with Gimbal-Parallel Link and Belt-Pulley Mechanism
抄録
<p>By integrating locally operated small surgical robots in a sterilized area, a surgeon can perform safe and accurate robotically assisted laparoscopic partial nephrectomy. A new locally operated forceps manipulator that can be used by the surgeon as a third arm during laparoscopic surgery was developed. The DC motor driven 3-DOFs forceps manipulator consists of a gimbal-mounted parallel linkage mechanism for the pitch and the yaw axes, and a belt-pulley mechanism for the insertion axis attached to the commercial forceps. The dimensions of the manipulator are 180 mm * 270 mm * 300 mm. The weight is 1.7 kg. The positional accuracy and the mechanical deflection of the manipulator were evaluated.</p>
収録刊行物
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- ロボティクス・メカトロニクス講演会講演概要集
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ロボティクス・メカトロニクス講演会講演概要集 2021 (0), 1P2-C11-, 2021
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390290537433853696
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- NII論文ID
- 130008135071
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- ISSN
- 24243124
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可