REMOTE MICRO-SURGERY SYSTEM AND METHOD OF INSERTING SLAVE MANIPULATOR

摘要

PROBLEM TO BE SOLVED: To provide a remote micro-surgery system that can perform a surgery by inserting to reach an operated part passing through clearances between organs just like a catheter inserting method and operating micro-surgery with an aid of endoscope images. SOLUTION: The remote micro-surgery system transmits motions of a master to a slave. A slave manipulator performs at least motions of 5 freedom including holding, forward and backward bending, translation and rotation by a remote operation of the master.