TY - GEN
T1 - Development of a hydraulically-driven flexible manipulator including passive safety method
AU - Okayasu, Haruna
AU - Okamoto, Jun
AU - Fujie, Masakatsu G.
AU - Iseki, Hiroshi
PY - 2005/12/1
Y1 - 2005/12/1
N2 - Minimally invasive surgery has recently become a key word in medical engineering. In this operation, to introduce surgical instruments, spatulas which push tissues aside and retain the approach path to the affected area as well as workspace for the insertion of such instruments are necessary. Therefore, a new type of hydraulically-driven flexible manipulator for neurosurgery has been developed. With an attached balloon and using only physiological saline for the drive system, safety of the brain tissue, especially in terms of pressure, is assured as is the simplicity of the mechanism. In addition, this provides the advantage of MRI compatibility. From the results of several evaluations, this manipulator has been proved effective as a new type of medical device.
AB - Minimally invasive surgery has recently become a key word in medical engineering. In this operation, to introduce surgical instruments, spatulas which push tissues aside and retain the approach path to the affected area as well as workspace for the insertion of such instruments are necessary. Therefore, a new type of hydraulically-driven flexible manipulator for neurosurgery has been developed. With an attached balloon and using only physiological saline for the drive system, safety of the brain tissue, especially in terms of pressure, is assured as is the simplicity of the mechanism. In addition, this provides the advantage of MRI compatibility. From the results of several evaluations, this manipulator has been proved effective as a new type of medical device.
KW - Hydraulically driven system
KW - Minimally invasive surgery
KW - Neurosurgery
UR - http://www.scopus.com/inward/record.url?scp=33846140482&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33846140482&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2005.1570552
DO - 10.1109/ROBOT.2005.1570552
M3 - Conference contribution
AN - SCOPUS:33846140482
SN - 078038914X
SN - 9780780389144
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2890
EP - 2896
BT - Proceedings of the 2005 IEEE International Conference on Robotics and Automation
T2 - 2005 IEEE International Conference on Robotics and Automation
Y2 - 18 April 2005 through 22 April 2005
ER -