Author:
Nishizawa Kouji, ,Kishi Kousuke, ,
Abstract
A new structure of joints in surgical tools is proposed in this paper. Using this new structure, it becomes possible to operate a surgical tool with multiple degrees of freedom and smooth motion. In this new structure, a middle plate connects two parts that have rolling contact between each other. Furthermore, some drive wires are wired so that they cross between the two parts. There are two main features in this new structure. First, the path length of the wires is independent of the joint angle. Secondly, the joint and grippers are controlled independently. Using the independence of the grippers from the joint, the operation of the surgical tool becomes easier for the operator. This is because it becomes possible to control the joint and grippers like the wrist and hand of a human being.
Publisher
Fuji Technology Press Ltd.
Subject
Electrical and Electronic Engineering,General Computer Science
Reference14 articles.
1. Muhe E. Die erste Cholecystektomie dursh das laparoskop, Langenbecks Arch Chir, 369, p. 804, 1986.
2. Kuntomo Takakura, Haruhiko Kikuchi, “The state of the art of functional neurosurgery” (in Japanese), pp. 28-34, Institute for Advanced Medical Technology, 2002.
3. T. Furukawa, M. Ohgami, M. Kitajima, K. Nakazawa, “Present State and Future Prospect of Robotic Surgery” (in Japanese), J. of the Robotics Society of Japan, vol. 18, no. 1, pp. 8-11, 2000-1.
4. F. W. Mohr, V. Falk, A. Diegeler and R. Autschbach, “Computer-enhanced coronary artery bypass surgery,” J. Thorac. Cardiovasc. Surg, 117, pp. 1212-1215, 1999.
5. H. Shennib, A. Bastawisy, J. McLoughlin and F. Moll, “Robotic computer-assisted telemanipulation enhances coronary artery bypass,” J. Thorac. Cardiovasc. Surg, vol.117, pp. 310-313, 1999.
Cited by
15 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献