脳神経外科手術支援システムにおけるオートクレーブ滅菌可能なワイヤ駆動式微細鉗子要素機構の開発 Prototype Autoclavable Wire-Driven Microforceps for a Neurosurgery Support System
A prototype autoclavable wire-driven microforceps for neurosurgery, which can be used with a minimally invasive surgery-support system (called the hyper-utility mechatronic assistant system, HUMAN), has been was developed. The microforceps is separated into a mechanical drive part that can be sterilized and an electric drive part, to which sterilization is not performed. A microforceps drive-system was also constructed, and its dynamic characteristics were experimentally measured by a laser-sensor system. The open-close speed is 125deg/s and the delay time is 0.04s. It was found that separating the microforceps into two parts had no influence on these characteristics. The material of the sheath serving as the channel for the drive wire can be further improved for autoclave sterilization. It is concluded that the newly developed microforceps will be a great help in further developing minimally invasive neurosurgery using HUMAN.
生体医工学 42(4), 415-419, 2004