2005 Fiscal Year Final Research Report Summary
Development of surgical water hydraulic manipulator with low cost and high accuracy which is used under MRI
| Project/Area Number |
16500315
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Medical systems
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| Research Institution | Gifu University |
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Principal Investigator |
YAMADA Hironao Gifu University, Faculty of engineering, Associate Professor, 工学部, 助教授 (80240034)
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| Co-Investigator(Kenkyū-buntansha) |
TAKAHASHI Yuzo Gifu University, Graduate School of Medicine, Professor, 医学系研究科, 教授 (80094580)
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| Project Period (FY) |
2004 – 2005
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| Keywords | hydraulic actuator / digital valve / surgery manipulator / PWM draive / minimally invasive surgery / water hydraulic drive |
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| Research Abstract |
The purpose of the study is to development of surgical water hydraulic manipulator with low cost and high accuracy which is used under MRI. As a basic study, we designed and developed simple hydraulic manipulator with link mechanism. The manipulator has bending, rotate and grasp mechanism. The developed model is investigated by experiment and the following results are obtained.
(1) Maximum bending angle of the developed manipulator has 90 degree and it has.
(2) Duty-velocity characteristics are almost linear.
(3) Differential PWM method is adopted and the characteristic is evaluated.
(4) Step response to 30dgree was under 0.5 sec.
(5) It is clarified that normal PWM method is suitable for constant speed drive and Differential PWM method is suitable for positioning with high accuracy.
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