液圧駆動脳ヘラマニピュレータの開発

マニピュレ-タのメ力ニズムと要素試作機による特性評価

抄録

Minimally invasive surgery has recently become a key word in medical engineering. In this operation, to introduce surgical instruments, spatulas which push tissues aside and retain the approach path to the affected area as well as workspace for the insertion of such instruments are necessary. Therefore, a new type of hydraulically-driven flexible manipulator for neurosurgery has been developed. With an attached balloon and using only physiological saline for the drive system, safety of the brain tissue, especially in terms of pressure, is assured as is the simplicity of the mechanism. In addition, this provides the advantage of MRI compatibility. We produced the prototype with 3 joints which has three degrees of freedom, and from the results of several evaluations, derived theoretical equations about pressure, flow rate and leak.