1A2-J08 脳神経外科手術手技をサポートする手台マニピュレータEXPERTの開発

概要

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Continuous precise procedures are strictly required in microscopic neurosurgery. Holding the instrument in the best and identical position is important, and it is achieved by a surgeon's arm itself. The aim of the project is to develop an intelligent arm holding manipulator which follows surgeon's hand automatically. We have designed and made an auto-adjusting arm holding manipulator for microsurgery. This manipulator has designed based on three concepts. 1. The manipulator should be moved freely only by the movement of the surgeon's forearm. 2. Do not use an active control to prevent the movement not intended. 3. The save operation should be done smoothly. To realize these concepts, we have designed the 5 DOF passive control manipulator with powder brakes and tension springs, and this manipulator has Fixed mode, Controlled mode , and Free mode. In near future, we will evaluate the effectiveness of using this manipulator quantitatively.
一般社団法人日本機械学会の論文
2009-05-25