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 a means to hold and operate tissue of the human body under the remote operator system control.

SOLUTION: A positioning mechanism is equipped with a supporting member which is attached to a basal section fixed to a patient and acts on the basal section with a plurality of degrees of freedom, and a surgical instrument is equipped with a wrist mechanism which makes an end effector be connected to a thin and long member removably connected to the supporting member. The surgical instrument is inserted in the patient and is adjusted to place the end effector at the position adjacent to a surgical working region. A surgical operation system is so constituted that a master device 150 which is connected to the positioning mechanism and the surgical instrument controls the movements of the positioning mechanism and the end effector, and the master device 150 receives the force feedback information with the multiple degrees of freedom from the surgical instrument.

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