Journal of Osteoporosis and Physical Activity
Open Access

Yoshikazu Nakajima

Publications

• Research Article
  Improvement of Fixing Method for the Surgical Assistance Robot and Optimization of Body-Mounted Robotic System
  Author(s): Akira Bekku, Yoshikazu Nakajima, Joonhwan Kim1 and Kazuo YonenobuAkira Bekku, Yoshikazu Nakajima, Joonhwan Kim1 and Kazuo Yonenobu
  
  Robotically-assisted surgical system is introduced to achieve safety and high accurate operation. However, its fixation to the patient’s bones requires bone stiffness and there are some problems to apply brittle or cracked bones such as in rheumatism. Metal pin screws are commonly used to connect a robot and a patient and not safe for brittle bones. In this research, we focus on the optimization of a body-mounted small robot system that assists spine puncture surgeries. The robot consists of a fixation part and a needle guide part. The fixing unit can be controlled the stiffness to contour the patient’s body surface tightly. At first, it deforms freely to conform to the surface of the target, and then transition to solid-like state to save the deformed shape by utilizing the jamming transition phenomenon. The guiding part employs a double 45˚ gear mechanism and design.. View More»
  DOI: 10.4172/2329-9509.1000137

  Abstract PDF

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