手術用彎曲針を用いた直線的な刺入動作による医原性損傷に関する研究

Abstract

Suturing technique in surgery to decrease the iatrogenic injury contributes to reduce the burden on the patient. In this study, the prick angle to be the minimum iatrogenic injury amount is estimated based on the tangential angle and the prick depth modeled from the needle handling motion of surgeon. Experiment of the needle handling motion conducts using an articulated robot. The condition A is defined as the tangential angle and the prick angle are the same. On the condition B, the tangential angle and the prick depth is the same value of the condition A and the prick angle is an estimated value of minimum iatrogenic injury amount. As a result, the condition B was statistically significant from the condition A. Therefore the prick motion to reduce the iatrogenic injury amount was revealed.