2E2-2 SMA駆動マイクロマニピュレータの微小外科手術の応用 : 制御システムの検討(OS3-2:医療福祉ロボットとマイクロマシン技術II,オーガナイズドセッション)

概要

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Recently, the surgical operation is performed with a microscope used. The operation which needs a microscope is called a minute surgical operation. However, only those who have skill and an experience can perform the operation which uses a microscope. Then, it aims at development of the micro-manipulator which can support the operation which uses a microscope. This manipulator is a support system for technology or a man with little experience. SMA is used for an actuator and two linkage mechanisms are combined. A manipulator is developed combining two linkage mechanisms, an elastic hinge and revolute joint. In this report, the manipulator of an elastic hinge and a revolute joint was produced individually. The experiment of operation was conducted on the elastic hinge manipulator and the revolute joint manipulator.
2009-09-23