1P1-C03 パラレルメカニズムを用いた眼科手術支援マニピュレータの開発(手術支援ロボティクス・メカトロニクス)

概要

論文の詳細を見る
Vitreoretinal surgery is one of the most difficult microsurgery because surgeons have to manipulate extremely delicate tissues on the retina peering through a microscope. Therefore, there are only few surgeons skilled enough to perform it successfully. In order to make more effective treatment with high precision, we have developed a parallel manipulator with six degree of freedom. The primary concerns are size, precision and sterilization considering the characteristics of the surgery. The result of evaluation experiment shows that the manipulator moves around therapeutic range keeping remote center of motion. The experiment also shows that this system ensures microscopic field.
一般社団法人日本機械学会の論文
2008-06-06