2A1-A11 低侵襲手術用磁気駆動方式マニピュレータの開発

抄録

This research proposes a manipulator which is able to approach to deep area of internal organs such as lung, and furthermore realize minimally invasive surgery. This manipulator is driven by Magnetic force, that is, the small permanent magnet on the manipulator produces force a generated external magnetic field. By using magnetism, the manipulator is safe due to low voltage in the body and structure is simple. In this paper, we suggested the control to manipulate the direction and the strength of external magnetic field to generate large bending angle of manipulator.