抄録
This paper describes the development of a slave manipulator for the tele-lapaloscopic surgery. The authors have investigated requirements and constraints for the slave manipulator. Based on the investigation, we developed a slave manipulator with 33 DOF, which consists of three arms. The center arm for endscope has 7 DOF ; 4 for preoperative setting and 3 for intraoperative driving. Right and Left arms for forceps have 13 DOF respectively; 6 for preoperative setting and 7 for intraoperative driving. With the help of respective DOF for preoperative setting, the manipulator realizes easy position setting. The paper also describes the experimental results for a laparoscopic cholecystectomy performed on a pig.
