Development of a hydraulically-driven flexible manipulator including passive safety method

Haruna Okayasu, Jun Okamoto, Masakatsu G. Fujie, Hiroshi Iseki

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    5 Citations (Scopus)

    Abstract

    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.

    Original languageEnglish
    Title of host publicationProceedings of the 2005 IEEE International Conference on Robotics and Automation
    Pages2890-2896
    Number of pages7
    DOIs
    Publication statusPublished - 2005 Dec 1
    Event2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
    Duration: 2005 Apr 182005 Apr 22

    Publication series

    NameProceedings - IEEE International Conference on Robotics and Automation
    Volume2005
    ISSN (Print)1050-4729

    Conference

    Conference2005 IEEE International Conference on Robotics and Automation
    CountrySpain
    CityBarcelona
    Period05/4/1805/4/22

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    Keywords

    • Hydraulically driven system
    • Minimally invasive surgery
    • Neurosurgery

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering
    • Artificial Intelligence
    • Electrical and Electronic Engineering

    Cite this

    Okayasu, H., Okamoto, J., Fujie, M. G., & Iseki, H. (2005). Development of a hydraulically-driven flexible manipulator including passive safety method. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation (pp. 2890-2896). [1570552] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005). https://doi.org/10.1109/ROBOT.2005.1570552