DESIGN OF A NEW LAPAROSCOPIC-HOLDER ASSISTING ROBOT

摘要

The minimally invasive surgery (MIS) is new technology of surgery. There are many advantages to patient to use this technology. The laparoscopic surgery, a type of MIS, is performed with several laparoscopic tools and with a laparoscope. In this paper, design of a new laparoscopicholder assisting robot is developed to help the primary surgeon. The system is a 5 DOF robotic system to hold and control laparoscope. The design is improved from well-known laparoscopic robots, the KaLAR robot and the MC 2 E robot, to reduce some disadvantages from our analysis. The robot base is enhanced from the lower part of the MC 2 E robot and the holder is adjusted from the laparoscope-holder of the KaLAR robot while other parts are developed by our own. In conclusion, the study presented in this paper is a consequence sub-project of the development of robot-assisted laparoscopic surgical system project.