Master manipulator with higher operability designed for micro neuro surgical system

Abstract

The master and slave surgical assistant systems have been studied actively. However, regarding the master system, the manipulator should be designed for each surgical field because the target workspace and precision are different. Furthermore, operability is important for safety reasons. Therefore, the authors analyzed the motion of surgeon first and then developed a master manipulator suitable for the operation of micro neuro surgery. Some experiments were conducted to evaluate the control method and show the effectiveness of the proposed manipulator control method.

A parallel robot to assist vitreoretinal surgery

“…The master manipulator has been presented in detail in our recent publications [14]. We used this manipulator because it realizes high operability.…”

Master–slave robotic platform and its feasibility study for micro‐neurosurgery

“…The master manipulators have been developed based on the detailed analysis of a surgeon's hand and arm motion in a 3D vector space, based on the detailed design procedures reported in . The length of the links were optimized to reproduce motion vectors similar to those of a human arm, and the gripper was designed so that the surgeon can hold it as he/she grasps a pair of tweezers.…”

Microsurgical robotic system for vitreoretinal surgery

“…The master manipulators of the master-slave robotic system have been reported in detail in our recent publication [16]. The master manipulators have high operability, and each of them has seven DOFs: three DOFs for translation, three DOFs for orientation, and one DOF for grasping.…”