STUDY ON ROBOTICS THAT SUPPORTS LAPAROSCOPIC SURGERY

我们研究和开发了辅助腹腔镜手术的机器人技术。主要的重点是开发主动机制，为腹腔镜手术提供额外的自由度，因为外科医生缺乏内窥镜设备(如钳子)的自由度。东京大学的团队开发了一种使用钛镍形状记忆合金管的主动钳子，其中一种在较高温度下记忆圆形，另一种在较低温度下具有直接形状记忆。热水和冷水由机动水泵控制，采用水循环方式。团队在9秒的响应时间内达到了大约45度的弯曲角度。此外，还设计了包括伊索1000、波尔海默斯传感器等在内的主从式机器人系统并制作了样机。该团队还开发了运动抵消的概念，外科医生可以对移动的器官进行手术，就像它们是静止的一样。鹿儿岛大学的团队探索了另一种利用焦耳效应的加热方法。也就是说，电流通过SMA管，它们的电阻使它们升温。更快的响应是这种方法的优势。研制的钳子弯曲角度约为40度，反应时间为3-4秒。

We studied and developed robotic technology that assists laparoscopic surgery. The main focus was to develop active mechanisms that provide extra degrees of freedom inside the patient's body for laparoscopic surgery where a surgeon suffers from lack of degrees of freedom of endoscopic equipments such as forceps.The team of University of Tokyo developed an active forceps using Ti-Ni shape memory alloy pipes, one of which memorized a circular shape at a higher temperature and another had straight shape memory at a lower temperature. Water circulation method was employed where hot water and cold water are controlled by motored pumps. The team attained approximately 45 degrees of bending angle with the response time of 9 seconds. In addition, a master-slave robot system was designed and prototyped including AESOP 1000, Polhemus Sensor, and so on. The team also developed the concept of Motion Cancellation where a surgeon can execute operations on moving organs as if they were stationary.The Kagoshima University team explored another heating method that uses the Joule effect. Namely, the electric current goes through the SMA pipes and their resistance heats them up. Faster response is the advantage of this approach. The developed forceps attained approximately 40 degrees of bending angle with the response time of 3-4 seconds.