Development of Selective Driving Joint Forceps Using Shape Memory Polymer
Katsuhiko Fukushima,Takahiro Kanno,Tetsuro Miyazaki,Toshihiro Kawase,Kenji Kawashima,Katsuhiko Fukushima,Takahiro Kanno,Tetsuro Miyazaki,Toshihiro Kawase,Kenji Kawashima
In this study, we developed a selective driving joint forceps (SDJF) for laparoscopic surgery. The SDJF has a mechanism that the driving joints can be selected arbitrarily, therefore each joint doesn't require an individual actuator for operating. The developed SDJF has six joints that can be operated using only four actuators. Each joint has 2-degrees-of-freedom (DOF) of flexion. Therefore, the S...
