Minimally invasive surgery accelerates postoperative recovery, but can only be applied by surgeons having advanced conduct skills. We developed a master-slave manipulator, i.e., robotic forceps for laparoscopic surgery that enhances surgical skill. Robotic forceps consists of a master-slave manipulator, a support component, a controller, an operating conditions display, and a foot switch for changing operating conditions. This paper details specifications and components of robotic forceps and evaluates conductance, such as measurement of the slave hand’s grip and suturing and ligaturing, conducted on a sponge stomach model. A comparison of support function in experiments demonstrates their effectiveness.
Minimally invasive surgery helps patients by accelerating postoperative recovery. However, its application is impeded because it is necessary for the surgeons performing such surgery to possess surgical skills of a high order. Thus, for laparoscopic surgery, a master slave combined manipulator (MCM) has been proposed that enhances the surgeon's skill. The master grip and the slave hand with wrist joints are combined through the manipulator body, and a surgeon can perform the operation near to the patient. The slave hand is controlled by the master grip electrically and its position is directly controlled by the surgeon. The prototype model of the MCM has been developed and the function of the MCM has been verified by basic evaluation tests, and the MCM has been applied in an animal experiment. This paper describes the basic performance of the MCM.
The purpose of this study is to develop the supporting system for standing up and sitting down of the elderly people. The feature of the supporting system is to assist the human motion for standing and sitting without any sensors attached to the people. First of all, we measured a human motion of standing by the force plate and a force sensor. As the result, we clarified the feature of a human standing motion. On the basis of the feature, we considered the design guideline of the supporting system. And we made the motion simulator to estimate a human posture during the stand-up motion from the force plate and force sensor data.
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