FORCE-REFLECTING SURGICAL INSTRUMENT AND POSITIONING MECHANISM FOR PERFORMING MINIMALLY INVASIVE SURGERY WITH ENHANCED DEXTERITY AND SENSITIVITY

摘要

PROBLEM TO BE SOLVED: To provide means for holding and operating tissue of a human body under control of a remote operator system.SOLUTION: A remote surgery system 10 comprises: a base part to be fixed to a patient; a positioning mechanism 14 mounted on the base part and having a support member actuated with respect to the base part in a plurality of degrees of freedom; a surgical instrument having a wrist mechanism for connecting an end effector to an elongate member releasably connected to the support member, the end effector being actuated with respect to the support member in a plurality of degrees of freedom and adapted such that the surgical instrument is inserted into the patient to place the end effector in a position adjacent to a surgical worksite; and a master device 150 connected to the positioning mechanism and the surgical instrument, the master device controlling movement of the end effector and the positioning mechanism and receiving force feedback information from the surgical instrument in a plurality of degrees of freedom.SELECTED DRAWING: Figure 1