抄録
This paper describes the development and experimental result of master manipulator for the workspace creation in minimally invasive brain surgery. The master manipulator was development for the purpose of maximizing the doctor's facility for performing operations. Therefore, the master manipulator needs to be easy to use for the doctor. This master manipulator which was developed has three degrees of freedom to control the Workspace-creation manipulator that has eleven degrees of freedom. When experimenting on in vivo, the opinion that the function to recognize contact with the brain was necessary was obtained. In this research, because the doctor can use it more easily, it proposes the function to recognize contact with the brain.
