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

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著者

    • 河合 俊和 KAWAI Toshikazu
    • 大阪大学大学院情報科学研究科バイオ情報工学専攻|(株)日立製作所機械研究所 Department of Bioinformatic Engineering, Graduate School of Information Science and Technology, Osaka University|Mechanical Engineering Research Laboratory, Hitachi, Ltd
    • 土肥 健純 DOHI Takeyosh
    • 東京大学大学院情報理工学系研究科知能機械情報学専攻 Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo
    • 赤澤 堅造 AKAZAWA Kenzo
    • 大阪大学大学院情報科学研究科バイオ情報工学専攻 Department of Bioinformatic Engineering, Graduate School of Information Science and Technology, Osaka University

抄録

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.

収録刊行物

  • 生体医工学

    生体医工学 42(4), 415-419, 2004

    公益社団法人 日本生体医工学会

各種コード

  • NII論文ID(NAID)
    130004266053
  • 本文言語コード
    JPN
  • ISSN
    1347-443X
  • データ提供元
    J-STAGE 
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