| 摘要 |
<p>The Developed Laparoscopic Tool is capable of 4 degrees of freedom: (a) Grasping; (b) Tip Rotation; (c) Bending; and (d) Shaft Rotation. It is subdivided into 3 major divisions: Tip; Middle Compartment (2); and Handle. To accomplish the 4 degrees of freedom, different mechanisms and materials where incorporated in the tool design. It allows the instrument to achieve a 360-degree rotation of an interchangeable tool (4) located at the end of the rod. To achieve a desired bending angle, two servo motors are used to actuate push and pull linkages (20) that are connected to the bending segments (23, 24 and 25) as seen in the Linkage Consolidated Design. The shaft rotation is achieved using a single modified servo motor, making it capable of continuous rotation. Both of these functions are actuated with the use of a joystick (8) placed on the handle. The Grasping and Tip Rotation mechanisms are both actuated manually through the use of a trigger-type control and scrollers (7) respectively. The result of which is an instrument which (a) provides ample maneuverability for the user; and (b) creates less stress on the user during long periods of operation.</p> |
