生体医工学
Online ISSN : 1881-4379
Print ISSN : 1347-443X
研究
脳腫瘍摘出手術のための力検出多自由度微細マニピュレータの開発
山下 裕司藤平 祥孝米山 猛渡辺 哲陽香川 博之濵田 潤一郎林 裕中田 光俊
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ジャーナル フリー

2012 年 50 巻 4 号 p. 329-336

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A flexible micro manipulator with a force detecting gripper has been developed for the brain surgery. The force of gripping tumor is detected by strain gages fit on the gripper and it is conducted to surgeons using the feedback system by a master manipulator. Micro manipulator can flex at the end part and rotate so that the closing direction of the gripper can approach adequately to the deeply seated tumor. Some operation test showed that the manipulator can approach flexibly to the target. And gripping soft material test showed that the taking out force of the target was detected clearly and the operator could feel the kinesthetic sense through the feedback system.

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© 2012 社団法人日本生体医工学会
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