Development of a micro manipulator for minimally invasive neurosurgery

摘要

Surgical robots are useful for minimally invasive surgery, since it enables precise manipulation of surgical instruments beyond human ability in a small operation space. In this approach, we are developing a micro manipulator for minimally invasive neurosurgery. The micro manipulator consists of two micro grasping manipulators, a rigid neuroendoscope, a suction tube, and a perfusion tube. This paper reports on the micro grasping manipulator. It has two D.O.F for bending and one D.O.F for grasping. This prototype is 3.1mm in diameter and can bend 30 degrees in any direction. Stainless steel wire was used to actuate the manipulator.