抄録
In this paper, we developed a tele-operation robotic system for fingertip replantation surgery, which is called MiRS (Microsurgery Robot System). There are some difficulties on surgery process, because of tiny blood vessels and nerves of the finger. To cover the problems of surgery, the system, which is called MiRS (Microsurgery Robot System), must have two rightful prerequisites: the accuracy and comfortableness. For accuracy, which guarantees safety also, we developed a master-slave surgical system. Safety problem contains the reduction of hand-tremor on surgery, so "motion scaling" can be realized by master-slave system. Besides, motion scaling can improve the accuracy itself, either. Lastly the master-slave system with scaling motion improves comfortableness either. Most importantly, the wrist motion is added in end-effector for our system. That motion can helps make more natural and smaller movement on surgery. The process of surgery can be more safe and accurate by making small movement. We developed slave system now, and experimental results are included to verify the performance of the robot and advantages by using wrist on the end-effector.
