Abstract
Minimally invasive surgery accelerates postoperative recovery, but can only be applied by surgeons having advanced surgical skills. This paper introduces a master-slave manipulator system for laparoscopic surgery using a 6-axis vertical articulated robot for a slave arm with a forceps. The control mode of the system consists of a non-trocar mode, a trocar mode and a transitional mode between the two modes in order to ensure insert and remove motions of the forceps. An orientation adjustment motion before an insert motion of the forceps under the transitional mode is achieved by the motion of the 4th axis and the 5th axis of the slave arm. The orientation adjustment motion and insert motion under the transitional mode and master-slave motion under the trocar mode are shown by evaluation experiments of the master-slave manipulator system including the 6-axis vertical articulated robot.
