Electrification of a Retractor Consisting of Flexible Structure and Development of Six-D.o.F Surgical Assist Arm with Unactuated Joints

Volume 4, Issue 1, February 2023     |     PP. 1-20      |     PDF (2089 K)    |     Pub. Date: January 1, 2023
DOI: 10.54647/mechanical46094    101 Downloads     85810 Views  

Author(s)

Toshihiro Yukawa, Dept. of Mech. Eng., Faculty of Eng., Iwate University, 4-3-5, Ueda, Morioka, Iwate, 020-8551, Japan
Kazushi Nakamura, Dept. of Mech. Eng., Faculty of Eng., Iwate University, 4-3-5, Ueda, Morioka, Iwate, 020-8551, Japan
Hiroki Satoh, Dept. of Mech. Eng., Faculty of Eng., Iwate University, 4-3-5, Ueda, Morioka, Iwate, 020-8551, Japan
Youichi Takeda, Division of Technical Support, Iwate University, 4-3-5, Ueda, Morioka, Iwate, 020-8551, Japan
Yoshiaki Oshida, Division of Technical Support, Iwate University, 4-3-5, Ueda, Morioka, Iwate, 020-8551, Japan
Jun Sasaki, Iwate Medical University, 1-1-1 Idaidori, Yahaba-cho, Shiwa-gun, Iwate Prefecture 028-3694, Japan

Abstract
In this paper, we describe a new type of a flexible retractor (universal fixator) and an assist arm with surgical instrument developed as substitutes for an abdominal retractor for use during surgery. The new assist arm as the retractor with surgical instrument can increase the efficiency of retraction function during surgery. As for the conventional flexible retractor, the amount of rotation of the knob required for fixing and loosening was large, and it took time to operate. To overcome this problem, we install a motor to the retractor and perform a torque control. On the other hand, our developed assistance mechanism has a six-D.o.F as high controllability at the tip of the mechanism. Also, the whole mechanism of the assist arm consists of a serial three-link with three joints whose each joint is composed of a differential gear mechanism. The assist arm is able to maintain situation of the relevant body part of a person on the operating table while maintaining own posture.

Keywords
retractor, flexible retractor, assist arm, surgical arm, fixation device, six-D.o.F manipulator, motor, differential gear mechanism, friction brake, brake pad, manipulability

Cite this paper
Toshihiro Yukawa, Kazushi Nakamura, Hiroki Satoh, Youichi Takeda, Yoshiaki Oshida, Jun Sasaki, Electrification of a Retractor Consisting of Flexible Structure and Development of Six-D.o.F Surgical Assist Arm with Unactuated Joints , SCIREA Journal of Mechanical Engineering. Volume 4, Issue 1, February 2023 | PP. 1-20. 10.54647/mechanical46094

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