Development of manipulator for microsurgery

我们开发并评估了一种机器人操作器，它可以帮助神经外科医生在显微手术过程中安全稳定地回缩组织。该机械手是一个具有6个自由度的关节臂。它可以安装手术设备，如钳子。手臂具有重力补偿机构，实现动作精细轻便。开发了两种样机：由外科医生驱动的被动型和主从式。它可以为安全、可靠和侵入性较小的神经外科手术做出贡献。

We developed and evaluated a robotic manipulator which helps neurosurgeons by retracting tissues safely and steadily during microsurgery. The manipulator is an articulated arm with 6 degrees of freedom. It can mount surgical equipment such as forceps. The arm has gravity compensation mechanism to realize fine and light action. Two prototypes were developed: passive type which was driven by the surgeon, and master-slave type. It can contribute for safe, reliable, and less-invasive neurosurgery.