Master Manipulator for Minimally Invasive Brain Surgery - Improvement of Mechanism and Development of 2-DOF Slave Manipulator

摘要

This paper describes the development and experimental results of a master manipulator for brain surgery. The master manipulator was developed for the purpose of minimize the burden of doctor under an operation. Therefore the master manipulator needs to be designed simple for the doctor. The 2-DOF slave manipulator that simulates the real 15-DOF slave manipulator was developed. Switching DOF experiment, and bilateral control experiment were done to enhance the security of operation. Animal experiment using a pig was succeeded with a master manipulator and a minimally invasive slave manipulator.