REMOTE ROBOTIC SURGERY SYSTEM FOR A LAPAROSCOPY

摘要

This paper describes a remote robotic surgery system for arnlaparoscopy. The system consists of an operation site, a surgeryrnsite and a communication link. The operation site is equippedrnwith force feedback type master manipulators, visual and auditoryrninformation presentation apparatuses. A slave manipulator withrn3 arms is located at the surgery site; the left and right arms holdrnforceps or a radio knife and the center arm holds an endoscope.rnIn the experiment, a cholecystectomy was successfully performedrnon a pig at the distance of 150 km.