低侵襲脳外科手術における空間確保-脳を規範とした訓練用シミュレータの開発-

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This paper describes the development and experimental result of master manipulator for the workspace creation in minimally invasive brain surgery. The master manipulator was development 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. When experimenting on in vivo, the opinion that the function to recognize contact with the brain was necessary was obtained. In this research, because the doctor can use it more easily, it proposes the function to recognize contact with the brain. And the authors have been developing a simulator with the purposes of operation training for operator.
2010-04-30