Development of remote microsurgery robot and new surgical procedure for deep and narrow space
Development of remote microsurgery robot and new surgical procedure for deep and narrow space
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DOI：
10.1109/robot.2003.1241740
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发表时间：
2003-11
期刊：
影响因子：
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通讯作者：
K. Ikuta;Keiichi Yamamoto;K. Sasaki
中科院分区：
文献类型：
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作者：
K. Ikuta;Keiichi Yamamoto;K. Sasaki
针对人体深窄空间的远程显微手术，研制了新的手术程序和机器人系统。该系统使我们能够操作传统方法无法实现的困难显微手术。该系统由柔性杆和从动微操作器组成，可通过狭窄的通道进入大脑等深部部位。主操作手的宏运动可以转化为从操作手的微小运动，该操作手具有5个自由度，直径为3mm。该系统利用了Ikuta发明的柔性导管和解耦微操作器。通过动物实验验证了总体性能。
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.