1A2-J14 低侵襲脳外科手術における空間確保 : 接触認識機能の提案

概要

論文の詳細を見る
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.
一般社団法人日本機械学会の論文
2009-05-25