| 摘要 |
PROBLEM TO BE SOLVED: To provide means for holding and operating a tissue of a human body under remote operator system control.SOLUTION: A surgical operation system 10 includes: a positioning mechanism 14 mounted to a base part 68 for being fixed to a patient and having a support member 24 that actuates with respect to the base part in a plurality of degrees of freedom; a surgical instrument 12 having a wrist mechanism 22 for connecting end effectors 20a and 20b to an elongate member detachably connected to the support member, the end effectors being actuated to the support member in a plurality of degrees of freedom and being adapted so that the surgical instrument is inserted to the patient to place the end effectors at positions adjacent to a surgical work region; and a master device 150, connected to the positioning mechanism and the surgical instrument, controlling movement of the end effectors and the positioning mechanism, and receiving force feedback information from the surgical instrument in a plurality of degrees of freedom. |
