2A1-C05 低侵襲脳外科手術における術野確保 : 訓練用シミュレータと力覚提示マスタの開発

概要

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This paper describes the development and experimental results of a master manipulator for the workspace-creation manipulator for minimally invasive brain surgery. This 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 increased by information offered to the doctor by the inner force power sense presentation mechanism. Moreover, the simulator in which the brain was assumed to be a model was made, and the training of the master operation was enabled. This model was made in consideration of physical properties of the brain.
一般社団法人日本機械学会の論文