| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a device and a method for openably holding and manipulating a surgical instrument during endoscopic treatment. <P>SOLUTION: The manipulator assembly 2 includes: a support base 6 fixable to the surface; an instrument holder 4 coupled movably to the base 6 and having a mount for openably holding the surgical instrument; a drive assembly 7 operably coupled to the instrument holder 4 for providing the instrument with at least two degrees of freedom; a sleeve 70 which is attached to the support bases 6 of the instrument holder 4 and the drive assembly 7, and which has an axial path for accepting the shaft of the instrument 14; and a force sensing element 52 which is coupled to the sleeve 70 and detects a lateral force transmitted to the sleeve 70 by the distal end of the instrument shaft, and which is operably coupled to the controller to transmit a signal indicating the lateral force to the controller. <P>COPYRIGHT: (C)2013,JPO&INPIT |
