Design and use of a master manipulator for a micro-neurosurgical system based on motion analysis
by Hiroki Takahashi; Young Min Baek; Naohiko Sugita; Mamoru Mitsuishi; Shigeo Sora; Akio Morita
International Journal of Biomechatronics and Biomedical Robotics (IJBBR), Vol. 2, No. 1, 2012

Abstract: At present, master and slave surgical assistant systems are being actively studied. However, most of the researches focus on the slave manipulator. It is very important to develop a suitable master manipulator in order to support a more comfortable surgical environment. It also could lead to an increase in the success rate of operations. In this research, a dedicated master manipulator was designed to improve the manipulability in robotic-assisted neurosurgery. This is done because the requirements to the neurosurgery such as workspace and precision are different from those of other surgeries. Therefore, the motion of neurosurgeons was first analysed. Then, this knowledge of motion was taken into account during designing phase. A link mechanism is proposed to ensure that the motion vector of the manipulator is analogous to that of the human hand. The experimental results validated that the manipulability was improved with the developed master manipulator.

Online publication date: Wed, 27-Aug-2014

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

 
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Biomechatronics and Biomedical Robotics (IJBBR):
Login with your Inderscience username and password:

    Username:        Password:         

Forgotten your password?


Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com