A Cable Driven Robot with Integrated Suction Cups for NOTES Support
A Cable Driven Robot with Integrated Suction Cups for NOTES Support
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发表时间：
2012-06
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通讯作者：
Chika Hiroki;J. G. Tames;Wenwei Yu
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作者：
Chika Hiroki;J. G. Tames;Wenwei Yu
NOTES , a recently developed form of minimally invasive surgery, has attracted attention as a new laparoscopic operation. However, manipulation of forceps throughout the surgery continues to be a burden to surgeons. Our previous research focused on designing a model that could carry forceps and a camera through the abdominal cavity. However the robot body was too big for the use in a real surgery. Therefore, we devised an Integrated Robot with built-in suction cups, air ducts and housings, all made of a rubber-like soft material, for the miniaturization. In this study, we designed and manufactured the Integrated Rob ot, and investigated the influence of the deformation due to the softness of the robot, by a three-dimensional motion analysis. Moreover, for a feasibility study, four movements: moving forward/backward and turning right/left by the prototyped robot were tested. Results showed that it is possible to use the Integrated Robot for NOTES support.
