| 摘要 |
An articulated surgical instrument (12) for enhancing the performance of minimally invasive surgical procedures is coupled to a positioning mechanism (14) for supporting and moving the surgical instrument (12). The positioning mechanism (14) mounts to an operating room table. The instrument (12) has a high degree of dexterity, low friction, low inertia, good force reflection, and the positioning mechanism (14) provides a large range of motion to the instrument (12). The system is operated according to a macro-micro actuation scheme which allows for a large range of motion of the surgical end effector, and also allows for sensitive force feedback to a master controller (150) by reducing the measured inertia of the slave system. The macro-micro actuation scheme may be used in conjunction with impedance scaling, and force scaling between the instrument (12) and the master controller (150). |
