Study of Minimum Invasive Remote Surgery in the Abdomial Cavity

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1. Functional advance in Hyper EndoscopeWe developed various type of cybernetic actuator built in conventional hyper endoscope which depends on generating power and responsibility. Moreover, theoretical research of safety also developed.2. Improvement of Virtual Endoscpoe System for trainingWe realized force sensation to improve conventional virtual endoscope system for training. Then we built real-time model of force sensation and theory in the endoscope.3. Basic System of Minimum Invasive remote SurgeryWe developed total design and control systems of minimum invasive remote surgery in the abdomial cavity by using cybernetic actuator. A drastic improvements are given in force response and dynamic degree of freedom.