@article{oai:kanazawa-u.repo.nii.ac.jp:00008615,
 author = {山下, 裕司 and 藤平, 祥孝 and 米山, 猛 and 渡辺, 哲陽 and 香川, 博之 and 濵田, 潤一郎 and 林, 裕 and 中田, 光俊},
 issue = {4},
 journal = {生体医工学 : 日本エム・イー学会誌 = Transactions of the Japanese Society for Medical and Biological Engineering : BME},
 month = {Mar},
 note = {A flexible micro manipulator with a force detecting gripper has been developed for the brain surgery. The force of gripping tumor is detected by strain gages fit on the gripper and it is conducted to surgeons using the feedback system by a master manipulator. Micro manipulator can flex at the end part and rotate so that the closing direction of the gripper can approach adequately to the deeply seated tumor. Some operation test showed that the manipulator can approach flexibly to the target. And gripping soft material test showed that the taking out force of the target was detected clearly and the operator could feel the kinesthetic sense through the feedback system},
 pages = {329--336},
 title = {脳腫瘍摘出手術のための力検出多自由度微細マニピュレータの開発},
 volume = {50},
 year = {2013}
}