Design of Master Console of Surgical Robot for NOTES

摘要

Natural Orifice Transluminal Endoscopic Sur-gery(NOTES) is a new concept that has no scar at abdominal skin because the surgical instruments are inserted through stomach, colon, vaginal or urinary bladder through natural entry port. But, it is technically difficult because of the limit of the conventional endoscopic surgical instruments. A robot technique can be a best solution for the NOTES. In robotic surgery, intuitive and safe control of robot arms is most important factor for successive surgery. For intuitive control, the motion of surgeon's hand and robot arm must be same or similar. A master console for intuitive control for NOTES robot was developed. A simulator of surgical robot for NOTES was developed to estimate master manipulator, research control algorithm.