| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a system which has a configuration for easy sterilization so that it can be reused and provides a surgeon with an appropriate feedback, and has high responsiveness. <P>SOLUTION: The manipulator assembly comprises: a support base fixable to a surface; an instrument holder movably coupled to the support base and adapted to releasably hold the surgical instrument, a drive assembly operatively coupled to the instrument holder for providing the instrument with at least two degrees of freedom; a sleeve mounted on the support base on the distal end of the instrument holder and the drive assembly and having an axial passage for receiving the instrument; and a force sensing element which is connected to the sleeve to detect lateral forces transmitted to the sleeve by the distal end portion of the instrument shaft and is operatively connected to the controller to transmit signals representing the lateral forces to the controller. <P>COPYRIGHT: (C)2011,JPO&INPIT |
