低侵襲脳外科手術における術野確保-様々な形状制御が可能なマスタの開発-

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This paper describes the development and experimental results of a master manipulator for workspace creation in minimally invasive brain 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. However, there was a problem of the slave not being able to do complex operations in this master easily. In this research, a master which allowed the slave to do complex operations was developed. This master has four degrees of freedom.Keywords: Master manipulator, Brain surgery, Interface
2010-10-30