@article{oai:kanazawa-u.repo.nii.ac.jp:00008718,
 author = {米山, 猛 and 渡辺, 哲陽 and 香川, 博之 and 濱田, 潤一郎 and 林, 裕 and 中田, 光俊 and Yoneyama, Takeshi and Watanabe, Tetsuyou and Kagawa, Hiroyuki and Hamada, Jun-ichiro and Hayashi, Yutaka and Nakada, Mitsutoshi},
 issue = {2011},
 journal = {Conference proceedings : Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference},
 month = {Jan},
 note = {In order to realize a less invasive robotic neurosurgery for the deeply seated tumor, a force detecting gripper with a flexible micro manipulator has been developed. Gripping force applied on the gripper is detected by strain gages fit on the gripper clip. Signal is conducted to the amplifier by the cables through the inner pipe of the manipulator. In order to approach to the deeply seated tumor through a narrow hole, a micro manipulator which can flex at the end part to face the gripper for the target and can rotate the closing direction of the gripper at the end of the manipulator has been developed. Some operation test showed that the developed manipulator can approach flexibly to the target, and the taking out force of a target on the soft material was detected clearly.},
 pages = {6695--6699},
 title = {Force detecting gripper and flexible micro manipulator for neurosurgery.},
 year = {2011}
}