| Co-Investigator(Kenkyū-buntansha) |
KAWABE Norihiko Fujita-Health University, Surgery, Assi.Professor, 医学部, 講師 (00234120)
UMEMOTO Shunji Fujita-Health University, Surgery, Asso.Professor, 医学部, 助教授 (70138022)
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| Budget Amount *help |
¥3,100,000 (Direct Cost: ¥3,100,000)
Fiscal Year 2000: ¥1,200,000 (Direct Cost: ¥1,200,000)
Fiscal Year 1999: ¥1,900,000 (Direct Cost: ¥1,900,000)
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| Research Abstract |
We investigated what length, movement angle and position were adequate for the robotic arm in order to perform laparoscopic cholecystectomy, hernia repair, gastrectomy and colon resection, in 1999. We decided the size of robot arm as follows ; the size of the fixation pillar was 111×102×705 mm, tilt angle of the pillar±30 degrees. The arm was connected at the top of the pillar and added one joint in the arm. The length of the first arm was 400 mm. The angle of the turn was±160 degrees from the vertical line of the pillar. The x-axis tilt angle of the second arm, holding the scope, was±135 degrees, and the y-axis tilt angle was ±90 degrees.
The length and the limits of the movement of the arm was enough in the cholecystectomy and hernia repair due to small operative field. In the gastrectomy, right or left hemicolectomy, in which laparosocpe must cover wide operative field, we were obliged to change the position of the robot arm during the operation.
We ordered Tatematsu Company and Aska Corporation to manufacture the first trial robot arm. The movement of the arm was controlled with table and/or foot switch. There was few company, which had the experience making the robot arm used for the human. Therefore, the schedule was delayed to decide the corporation. Robot arm was applied for the human body. We have to examine many issues regarding safety system controlling the force of the movement, handling system to hold the scope.
We are dissatisfied that we could not use the robot arm in clinical practice because the trial assembling was not completed until the end of the year 2000.
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