2A1-G10 バルーンを用いた手術支援マニピュレータの開発 : バルーンセンサによる圧排圧力の推定(手術支援ロボティクス・メカトロニクス)

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 developed the third prototype and constructed the model for sensing the retract pressure.