Robotic manipulator system for microsurgery (2nd report)

摘要

Introduction: The technique of microsurgery which needed for replantation of amputated digits is rather difficult for general surgeon. If robot can assist surgeons, many surgeons can treat traumas which need microsurgical technique. We will present robotic microsurgery system based on master-slave arm method and it will contribute to the field which requires microsurgical technique such as hand, plastic and reconstructive surgery. Methods: The manipulator system consists of double slave arm and each slave arm has six axis and moves according to the command from master arm. The master arm also consists of double arm and each has five encoders and one micro switch. We used stepping motor as an actuator and harmonic drive as a reducer. High resolution optical encoder is selected for informing the movement of master arm of the host computer. Manipulation of an operator is transmitted to encoders and other sensors of master arm and transferred to the stepping motors. We used the vessels of rat tails and silastic vessel as materials and evaluated following points. 1) Working area, 2) Hold and change the direction of micro vessel and nerve 3) Dilate the vessel 4) Release the vessel from soft tissue 5) Cut the vessel 6) Make a small hole on the vessel 7) Insert the 10-0 nylon into the vessel 8) Assist surgeon during making suture on the vessel and nerve. 9) Suture the small artery by double arm.