主催: 一般社団法人 日本機械学会
会議名: ロボティクス・メカトロニクス 講演会2016
開催日: 2016/06/08 - 2016/06/11
In neurosurgery, precise and complicated surgical tasks are required to be performed in deep and narrow spaces in the brain, and such surgical tasks are difficult even for skilled surgeons. Many master-slave neurosurgical robots have been developed to assist surgeons; however, previously developed systems are rather bulky and do not have sufficient degrees of freedom (DOFs). Therefore, we are developing a new miniature master-slave neurosurgical robotic system targeted for tasks in deep and narrow spaces of the brain. This robot is equipped with multi-DOF robotic forceps for tasks in deep and narrow spaces. This paper describes the mechanical design and control method of the robot. As a preliminary experiment, a needle insertion task was performed using a model simulating a workspace, showing promising results.