Abstract
In this paper a prototype of surgery assisting manipulator for RAO (Rotational Acetabular Osteotomy) which is one of orthopedic surgeries is described. Final concept is that surgical system of two manipulators provides hip joint surgery as minimally invasive approach. One is a muscle retracting manipulator and the other is a bone cutting manipulator. The muscle retracting manipulator is inserted through a small incision hole to make a surgical space for the bone cutting manipulator. We focus the development of the muscle retracting manipulator. The prototype of the muscle retracting manipulator was made as a multi-DOF manipulator and the approach motion was composed by using compliance control. The soft tissues attached to the surface of bone model can be peeled by the prototype.
