低侵襲脳外科手術における術野確保 : 多自由度マニピュレータ制御用マスタ

概要

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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 a doctor's facility for performing operations. Therefore, the master manipulator needs to be easy to use for the doctor. This master manipulator was developed with three degrees of freedom to control the workspace-creation manipulator that has eleven degrees of freedom. Moreover, the operativeness of the master manipulator has been improved by providing the function of self-weight compensation
工学院大学の論文