| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a means for holding and operating an organization of a human body under the control of a remote controller system. <P>SOLUTION: The invention includes the following: a base to be fixed to a patient; a positioning mechanism 14 attached to the base and having a support member, wherein the support member is activated in a plurality of degrees of freedom with respect to the base; a surgical instrument 12 having a wrist mechanism for connecting an end effector to an elongated member connected releasably to the support member, wherein the end effector is activated in a plurality of degrees of freedom with respect to the support member, and adapted to be placed adjacently to the surgical operation site while allowing the surgical instrument to be inserted into the patient; and a master device 150 connected to the surgical instrument and the positioning mechanism to control the movement of the positioning mechanism and the end effector, while receiving force-feedback information from the surgical instrument with a plurality of degrees of freedom. <P>COPYRIGHT: (C)2011,JPO&INPIT |
