Flexible endoscopic forceps with long flexible fingers having high gripping performance
| Project/Area Number |
15K05908
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Saitama Institute of Technology |
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Principal Investigator |
Ando Hiroki 埼玉工業大学, 工学部, 准教授 (60377819)
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| Project Period (FY) |
2015-04-01 – 2019-03-31
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| Project Status |
Completed (Fiscal Year 2018)
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| Budget Amount *help |
¥4,940,000 (Direct Cost: ¥3,800,000、Indirect Cost: ¥1,140,000)
Fiscal Year 2017: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2016: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2015: ¥2,730,000 (Direct Cost: ¥2,100,000、Indirect Cost: ¥630,000)
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| Keywords | ソフトメカニクス / ソフトロボティクス / コンプライアントメカニズム / コンプライアントグリッパ / フレキシブルメカニズム |
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| Outline of Final Research Achievements |
This work aimed to design flexible endoscopic forceps with two long elastic fingers that can pass through a small diameter forceps channel of a flexible endoscope and grasp an internal organ with a large mass. In this work, an algorithm for designing the elastic gripping forceps based on a design methodology of flexible frame structures by spring-and-segment model was proposed. the proposed design algorithm provided flexible endoscopic forceps with two elastic fingers that are about twice as long as the conventional ones and have higher gripping force than that of the conventional ones.
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| Academic Significance and Societal Importance of the Research Achievements |
近年，軟性内視鏡を用いて内腔側から治療を行う内視鏡治療が，体表に全くキズをつけずに行う低侵襲な手術法として注目されている．しかし，軟性内視鏡の鉗子口から挿入され，細く長い管路を通して使用可能な器具は，概して性能が低く，種類も限られている．このため，軟性内視鏡治療は，低侵襲ではあるが非常に困難な手術法となっている．本研究は，低侵襲な軟性内視鏡治療を容易に行えるようにするための高性能な器具の開発を目指すもので，医療技術の向上において大きな意義があると思われる．
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Report
(5 results)
Research Products
(2 results)
