DEVELOPMENT OF MASTER-SLAVE ROBOTIC SYSTEM FOR LAPAROSCOPIC SURGERY

ABSTRACT Laparoscopic surgery is widely performed as a less traumatic minimally invasive surgery. It, however, requires experiences and skills for surgeons. For realizing high quality and preciseness of surgical operation, we developed a new compact slave robot in a master-slave system. It consisted of manipulator positioning arm, forceps manipulator, and bending forceps. We integrated them into a slave robot with seven DOFs. In vivo experiment was conducted to evaluate the basic motion and the feasibility.