Development of Configuration Differing Master Slave Combined Forceps

内窥镜手术是一种手术，使患者在一次手术中只受到很小的损伤，并且患者可以期待术后早期恢复。另一方面，内窥镜手术对外科医生来说是一项非常困难的手术。因此，需要开发一种支持医生负担的手术辅助系统，使医生能够在分拣的时间内正确、方便地完成手术。而这项研究的目的是使它能够使医生能够轻松而正确地进行要求高技术的手术，如内脏缝合，并减轻医生的负担。这种机械手是先进的钳子而不是手术机器人。虽然它是主从机械手，但主从在机构上是连接在一起的。因此，与传统的主从式手术机器人相比，它非常紧凑。钳尖的选择成为设计中的一个非常重要的问题。考虑到操纵感或良好的操纵性，偏航、俯仰、侧滚结构对于主部件的结构是可取的。但很难将从属部分制作成偏航、俯仰和横摇结构。然后，本研究在PC机上用CO实现了从机部分，并对从机部分的两种结构进行了比较。根据仿真结果，选择横摇、俯仰、横摇三种结构作为从动件的结构，开发了重力抵消系统，并研制了不同尺寸的主从式机械手。该机械手实现了具有触觉的显微手术支撑系统。

Endscopic surgery is the surgery, which makes the patient only small damage at an operation, and the patient can expect postoperative early recovery. On the other hand, the endscopic surgery is a very difficult operation for surgeons. Therefore development of the surgery assist system, which supports the doctor's burden and enables the doctor carry out a surgery correctly and easily with sort time, is desired.In this research, the combined master slave manipulator that supports endscopic surgery is proposed. And this research is aimed at the ability to make it enable the doctor to perform easily and correctly operation asked for high technique, such as a suture of internal organs and to mitigate the doctor's burden.This manipulator is advanced forceps rather than a surgery robot. Though it is a master-slave manipulator, the master and the slave are joined together in mechanism. Therefore, it is very compact compared with the conventional master-slave surgery robot.Selection of a tip of the forceps became a very important problem in the design. Yaw, Pitch, Roll structure is desirable for the structure of the master part in consideration of a feeling of operation, or good operationality. But it is difficult to make the slave part into Yaw, Pitch, and Roll structure. Then, this research realized the slave part by CO on PC, and compares the two kinds of structures of the slave part. As the simulation results, Roll, Pitch, Roll structure were chosen as the structure of the slave part, and the gravity cancellation system was developed.Furthermore, different size of master-slave manipulator is developed. The manipulator realized the support system for microsurgery with tactile sensation.