Abstract
Super micro surgery in neurosurgical field is very challenging problem because neurosurgeons manipulates the small instruments even in the constrained workspace through a microscope. In addition, neurosurgeons have the physical limitation such as dexterity and hand-tremor. In order to enhance the dexterity and increase the success rate of super micro surgery, we have developed a master-slave surgical robot system for neurosurgery. Our objective is to achieve the high accuracy of positioning and improving operability. In this paper, we introduce mainly design issues and implementations of master-slave manipulators. We evaluated our system through suturing experiments with fine artificial blood vessels. The experimental results to perform the suturing tasks show the improvement of surgeon's dexterity and effectiveness of developed system.
