外科医の意志通りに動くマイクロサージェリーハンドの開発

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To assist a surgeon who can't control his hands in micro-force operation, a new "micro surgery hand" was designed, fabricated and evaluated. It is composed of four elements : force control mechanism, microtool, multi-jointed arm and image driven system. It measures a large operting force using a strain gauge typed force sensor, e.g. 1N,which an operator wants to bring into the micro tool. Next ot treats a micro working force, e.g. 10mN,using a piezo typed force sensor and a piezo actuator, which is smaller, proportional to the operating force. Practically, it works the task with less than 40 msec in delay time. As a micro tool, a diamond cutting tool with 45 degrees of blade angle newly fabricated. Conventional stainless steel tools were so dull that they were used for tapping or scraping, but not cutting. The diamond tool could cut a bone like a planer cutting. However, it was difficult to cut the bone like a chisel cutting because the bone looks wetter, more deformable than metals or wood. The motion of the tool was real-timely measured with a 1mm resolution by image driven system. But the tool totally has a low rigidity because the multi-jointed arm has a low rigidity, e.g. 1N/mm : the piezo actuator can't make the force because it expands only 50 microns in maximum. The micro surgery tool can works as designed, but requires some new elements in future : an actuator which has a larger expansion, e.g. 10mm, or a micro tool for a chisel cutting.