把持対象の特性が内視鏡手術用鉗子操作時の母指運動及び硬さ判別に与える影響

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  • Effects of Gripping Object’s Characteristics on Thumb Movement during Forceps Operation and Ability to Discriminate Stiffness

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<p>In the endoscopic surgery, the forceps attached many kinds of gripping clip have been used, but it has been pointed out that there is a difference in the operability of the endoscopic forceps in the actual operation. In addition, the gripping clip of the forceps for endoscopic surgery is used according to the application purpose and the object to be grasped, it is assumed that the grasping sense characteristics change according to the characteristics of the object to be grasped. In this study, to consider the design policy of forceps shape that reduce the difference in sensation between direct palpation and using forceps, a sensory test was carried out by Scheffé’s methods of paired comparison with the measurement of thumb joint angle. The specimens were used a silicon rubber with different stiffness and thickness as a substitute for materials as an object of the sensory test, and they were used elastic strain sensor in the measurement of the angle of the thumb joint. From the experimental results of the sensory test, all forceps were most sensitive to stiffness difference at a sample thickness of 5 mm, and forceps B is more sensitive to stiffness differences when the sample thickness is 1 mm and 5 mm. As a result, we clarified the effect of thumb movement on stiffness discrimination by classifying the subjects according to the correlation coefficient between thumb movement evaluation parameters and point by Scheffé’s method.</p>

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