Abstract
We have been developing the Master Slave System for TUR-P (TransUrethral Resection of the Prostate) to aim at a doctor's reduction of physical influence and infection prevention. This system consists of double master slave construction, one is arm system and the other is tool system. Arm system has 3 degrees of freedom and operates in a spherical orbit of variable radius. This system performs the attitude and position control of a tool system. A tool system has 2 degree of freedom and performs resection and rotation operation of a electrode scalpel. Each system contains the force sensor and reproduces the same feeling as under an operation by the force feedback control. In this paper, we describe the Design of the master tool and the Position and force feedback control in tool system.
