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- YOKOYAMA Kenta
- 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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- ジンバル-平行リンクとベルト・プーリ機構を備える鉗子マニピュレータ
Abstract
<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>
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-C11-, 2021
The Japan Society of Mechanical Engineers
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Details 詳細情報について
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- CRID
- 1390290537433853696
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- NII Article ID
- 130008135071
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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