| Budget Amount *help |
¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
Fiscal Year 2013: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
Fiscal Year 2012: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
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| Research Abstract |
Surgical robots have required applying many medical areas. However it is difficult to adjust all the surgical conditions with complex task or with too small workspace. In our study, we proposed a design method that mechanisms of surgical robots could be determined based on surgeon's operation. Using this system, we investigated the effect on the accuracy of the surgical task by changing robot mechanism. And we verified the constraint condition which is required a task using surgical robot in narrow workspace. We used some instruments with mechanisms that differed with respect to the length between bending joints and measured the accuracy of the suturing and working volume. The result shows that the change in the visible area of the forceps tips affect the accuracy of suturing technique in an environment assumed the narrow workspace. From the result, it was possible that the workspace constraints and visibility of tip of the forceps were effective for the design of surgical robot.
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