Recently, minimally invasive surgery using surgical robot has been focused according to increase minimally invasive surgery such as endoscopic surgery. In those surgical robots, da vinci surgical system has been popular all over the world. However, there are problems that no function of force feedback and specific limit of visual field on surgery. Additionally, optimal shape of the operation manipulator of surgical robot needs to discuss for improvement of operating accuracy. Hereby, we developed quasi-surgical simulator and simplified surgical system to investigate effect of force feedback and limit of visual field. Using those systems, variation of operating accuracy that back/forward motion and rotating motion by change the shape of operating manipulator was discussed. And so, the influence of force feedback and the effect of visual field to operate manipulator were considered.
