| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a system which controls a slave manipulator to conduct minimally-invasive surgical operation from a remote control operator station to a worksite. <P>SOLUTION: The system comprises a manually-operated master link mechanism and a servomechanism which is composed so as to link the master link mechanism with a slave manipulator arm, a slave wrist member and a slave end effector. The servomechanism is composed to link a slave manipulator arm 34R with a master manipulator arm 76R so that the slave manipulator arm acts according to manually-operated motion of the master manipulator arm, to link the slave wrist member with a master wrist member so that the slave wrist member is jointed according to manually-operated motion of the master wrist member, and to link an slave end effector 40R so that the end effector acts according to manually-operated motion of a master end effector. <P>COPYRIGHT: (C)2009,JPO&INPIT |
