抄録
Master-Slave for TUR-P (MSST) for minimally invasive surgery has been developed in order to relieve the burden of surgery for the surgeon and prevent the infection. In this system with five degrees of freedoms (DOFs), a user operates a master interface and receives feedback of slave via the interface while a slave robot mimics the master's maneuvers on the remote environment. Both of them are divided into two parts, arm and tool. The former has 3 DOFs to describe the motion of user's arm during the operation the latter has 2DOFs to describe the motion of endoscope. This system employs a bilateral control system by using some encoders and 2 force sensors. Therefore, this system can control position and force. In this paper, we proposed the new master arm and describe safe positional control in the arm systems.
