2A1-A22 バルーンを用いた手術支援マニピュレータの開発 : バルーンのセンサ機能性評価

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. In this paper, we proposed a new model to improve the accuracy of balloon sensor, and evaluated functionality of balloon sensor.