Abstract
In reconstructive surgery, thin blood and lymph vessels of about 1 mm in diameter are frequently anastomosed. Such tasks demand high dexterity of surgeons, but there is the problem that their dexterity decreases because specific surgical sites (submandibular region, nasal cavity, etc.) force them on awkward posture. A master-slave system may solve this problem because the master and slave can be separately arranged and surgeon can operate in comfortable posture. Therefore, the purpose of this study is to develop a master-slave system for reconstructive surgery. In this paper, we illustrate mechanical design of the developed slave manipulator and experimental results with this manipulator. The experimental results show that the developed manipulator has the resolution of less than 10 μm, the band width of 〜 Hz, and the master-slave system has good tracking property.
