脳神経外科手術支援システムにおけるワイヤ駆動式微細鉗子の開発

概要

論文の詳細を見る
An exchangeable microforceps for neurosurgery-which can be inserted into micromanipulators of a minimally invasive surgery-support system (called the hyper utility mechatronic assistant system, HUMAN)-was developed. This microforceps, which performs open-close operation at bending by means of a drive wire, is a single-opening type It meets the specification of an outside diameter of 1 mm and a maximum holding force of 1 N, and a prototype was made of stainless steel by electric discharge machining. A microforceps drive-system was also constructed, and its dynamic characteristics were experimentally measured by a laser-sensor system. The forceps was then applied in an experiment on a swine brain tissue in vivo, and it was confirmed that its holding function is good enough for practical use. The results of these two experiments are being applied so that the holding-part mechanism and its dynamic characteristics can be further improved for clinical use. It is concluded that this newly developed microforceps will be a great help in further developing minimally invasive neurosurgery using HUMAN.
社団法人日本生体医工学会の論文
2003-06-10