抄録
This paper describes the development and experimental result of master manipulator for the workspace creation in minimally invasive brain surgery. The master manipulator was development for the purpose of maximizing the doctor's facility for performing operations. Therefore, the master manipulator needs to be easy to use for the doctor. This master manipulator which was developed has three degrees of freedom to control the Workspace-creation manipulator that has eleven degrees of freedom. However, there was a problem of not allowing the slave to do complex operation in this master easily. In this research, master who was able to have the slave do complex operation was developed. This master has four degree of freedom.
