2P2-H12 脳神経外科手術における超微細手術支援システムの開発(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
Super micro surgery in neurosurgical field is very challenging problem because neurosurgeons manipulates the small instruments even in the constrained workspace through a microscope. In addition, neurosurgeons have the physical limitation such as dexterity and hand-tremor. In order to enhance the dexterity and increase the success rate of super micro surgery, we have developed a master-slave surgical robot system for neurosurgery. Our objective is to achieve the high accuracy of positioning and improving operability. In this paper, we introduce mainly design issues and implementations of master-slave manipulators. We evaluated our system through suturing experiments with fine artificial blood vessels. The experimental results to perform the suturing tasks show the improvement of surgeon's dexterity and effectiveness of developed system.
一般社団法人日本機械学会の論文
2011-05-26