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

为了帮助不能控制手的外科医生进行微力手术，设计、制造和评估了一种新型的“微手术手”。它由力控制机构、微工具、多关节臂和图像驱动系统四部分组成。它使用应变式力传感器测量较大的操作力，例如1N，操作员想要将其带入微型工具。Next Ot使用压电式力传感器和与操作力成正比的较小的压电式致动器来处理微小的工作力，例如10mN。在实际应用中，它可以在不到40毫秒的延迟时间内完成任务。作为一种微型刀具，新制造了一种刀片角度为45度的金刚石刀具。传统的不锈钢工具非常迟钝，只能用来攻丝或刮削，而不能用来切割。这种钻石工具可以像刨削一样切割一块骨头。然而，像凿子切割一样切割骨骼是困难的，因为骨骼看起来比金属或木材更潮湿，更容易变形。采用图像驱动系统，以1 mm的分辨率实时测量刀具的运动。但该工具的整体刚性较低，因为多关节臂的刚性较低，例如1N/mm：压电致动器无法施力，因为它最大只能膨胀50微米。显微手术工具可以按设计工作，但未来需要一些新的元件：具有更大伸缩性的执行器，例如10 mm，或用于凿形切割的微型工具。

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.