Study of holding mechanism and control methodology of endoscopic surgery tools using artificial muscle actuators

近年来，内窥镜手术迅速普及，不仅因为它的侵入性较小，产生的可见疤痕较少，而且还因为它在医疗保健经济方面的好处。然而，还有许多问题没有解决，如手眼协调困难和视野有限。我们开发了新的硬件（内窥镜工具夹持机构）和软件（内窥镜工具控制方法），用于基于人工肌肉致动器的人机协作手术。

Endoscopic surgery has grown rapidly in popularity in recent years, not only because it is less invasive and produces less visible scarring, but also because of its benefits in terms of healthcare economy. However, there are many unsolved problems such as difficult hand-eye coordination and limited field of view. We developed new hardware (endoscopic tool holding mechanism) and software (endoscopic tool control methodologies) for human-robot cooperation surgery based on the use of artificial muscle actuators.