远程显微手术机器人的研制与深、窄空间手术新方法的研究

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI:10.1109/ROBOT.2003.1241740

K. Ikuta, Keiichi Yamamoto, K. Sasaki

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引用次数: 91

摘要

我们开发了新的手术程序和新的机器人系统，用于人体深部和狭窄空间的远程显微手术。该系统使我们能够进行传统方法无法完成的显微手术。该系统由柔性主机械手和从机械手组成，可通过狭窄通道进入大脑等深部部位。主机械臂的宏观运动可以转化为5个自由度、直径为3mm的从显微手术机械臂的微观运动。该系统利用了Ikuta发明的柔性导管和解耦微机械臂。通过动物实验验证了总性能。

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Development of remote microsurgery robot and new surgical procedure for deep and narrow space

We developed both new operation procedure and new robot system for remote micro surgery at deep and narrow space of human body. This system allows us to operate a difficult microsurgery that conventional method cannot be achieved. Our system consists of flexible stem and slave micro manipulators which can enter deep site such as brain through narrow channel. The macro motion of master manipulator can be converted into miniature motion of the slave microsurgery manipulator with five degrees of freedom in 3 mm diameter. This system has been taking advantage of flexible catheter and decoupled micro manipulator invented by Ikuta. Total performance was verified by animal experiment.

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来源期刊

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)

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