Study on Remote Microsurgery System (5th report) Development of a couple of Remote Microsurgery Robots and Verification of Endoscopic Surgery System

摘要

We developed both new operation procedure and new robot system for remote microsurgery at deep and narrow space of human body. This system allows surgeon to operate difficult microsurgery that conventional method cannot be achieved. The system consists of flexible stem and slave micro manipulators which can enter deep site such as brain through narrow channel. The macro motion of master device can be converted into miniature motion of slave microsurgery manipulator with 5D.O.F. in 3mm diameter. This system has been taking advantage of flexible catheter and decoupled micro manipulator. We developed the system that we can change master devices to various surgery. Using Microfinger to endoscopic operation, more advanced operation than the present one is attained. And the range which can be treated can also be extended. Non-linear response due to friction of micro cable drive was solved by the analysis of experimental data. New and simple control scheme is developed and applied. Finally highly precise control of the micro finger has been achieved.