2A1-01 低侵襲脳外科手術における空間確保 : 直感的操作感をもつマスタ・マニピュレータの研究(CAS・デバイス)

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This paper describes the development and experimental results of a master manipulator for the workspace-creation manipulator for minimally invasive surgery. The master manipulator was developed for the purpose of maximizing the doctor's facility for performing operations. Therefore, the master manipulator needs to be easy to use for the doctor. This master manipulator which was developed has three degrees of freedom to control the workspace-creation manipulator that has eleven degrees of freedom. And the authors have developed a simulator of the workspace-creation manipulator for the purposes of training and operation.
社団法人日本機械学会の論文
2006-09-10