학술논문
2E2-2 Development of micromanipulator for micro surgery using SMA : study on control system / 2E2-2 SMA駆動マイクロマニピュレータの微小外科手術の応用 : 制御システムの検討(OS3-2:医療福祉ロボットとマイクロマシン技術II,オーガナイズドセッション)
Document Type
Journal Article
Author
Source
The Proceedings of the JSME Symposium on Welfare Engineering. 2009, :169
Subject
Language
Japanese
ISSN
2424-3035
Abstract
Recently, the surgical operation is performed with a microscope used. The operation which needs a microscope is called a minute surgical operation. However, only those who have skill and an experience can perform the operation which uses a microscope. Then, it aims at development of the micro-manipulator which can support the operation which uses a microscope. This manipulator is a support system for technology or a man with little experience. SMA is used for an actuator and two linkage mechanisms are combined. A manipulator is developed combining two linkage mechanisms, an elastic hinge and revolute joint. In this report, the manipulator of an elastic hinge and a revolute joint was produced individually. The experiment of operation was conducted on the elastic hinge manipulator and the revolute joint manipulator.