| Project/Area Number |
15K18001
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Tokyo Medical and Dental University |
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Principal Investigator |
Kanno Takahiro 東京医科歯科大学, 生体材料工学研究所, 助教 (50714234)
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| Research Collaborator |
HARAGUCHI Daisuke
WATANABE Kengo
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| Project Period (FY) |
2015-04-01 – 2017-03-31
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| Project Status |
Completed (Fiscal Year 2016)
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| Budget Amount *help |
¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000)
Fiscal Year 2016: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
Fiscal Year 2015: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
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| Keywords | 手術支援ロボット / 鉗子マニピュレータ / マルチラテラル制御 / マスタ・スレーブシステム / 空気圧駆動 / ワイヤ駆動機構 / クランク機構 |
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| Outline of Final Research Achievements |
In this research, in order to prevent interference of arms in the surgery assistance robot, we developed a multi-degree-of-freedom forceps with higher degree of freedom than conventional robot forceps. We developed a prototype forceps with elbow joint and wrist joint with 2 degrees of freedom, i.e. 4-degrees-of-freedom in total. Considering practical application, a detachable mechanism using cranks and magnets was proposed so that a driving part with an actuator can be separated from a forceps part that performs surgery inside abdominal cavity.
In addition, with the aim of realizing a system that allows an operator to easily handle such multi-degree-of-freedom arm, We developed a control method to operate two robotic forceps using one master arm. Using the kinematics information and force sense information, insertion of a suturing needle is detected. The suture needle was automatically delivered from one forceps to the other forceps.
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