Development of Configuration Differing Master Slave Combined Forceps

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Endscopic surgery is the surgery, which makes the patient only small damage at an operation, and the patient can expect postoperative early recovery. On the other hand, the endscopic surgery is a very difficult operation for surgeons. Therefore development of the surgery assist system, which supports the doctor's burden and enables the doctor carry out a surgery correctly and easily with sort time, is desired.In this research, the combined master slave manipulator that supports endscopic surgery is proposed. And this research is aimed at the ability to make it enable the doctor to perform easily and correctly operation asked for high technique, such as a suture of internal organs and to mitigate the doctor's burden.This manipulator is advanced forceps rather than a surgery robot. Though it is a master-slave manipulator, the master and the slave are joined together in mechanism. Therefore, it is very compact compared with the conventional master-slave surgery robot.Selection of a tip of the forceps became a very important problem in the design. Yaw, Pitch, Roll structure is desirable for the structure of the master part in consideration of a feeling of operation, or good operationality. But it is difficult to make the slave part into Yaw, Pitch, and Roll structure. Then, this research realized the slave part by CO on PC, and compares the two kinds of structures of the slave part. As the simulation results, Roll, Pitch, Roll structure were chosen as the structure of the slave part, and the gravity cancellation system was developed.Furthermore, different size of master-slave manipulator is developed. The manipulator realized the support system for microsurgery with tactile sensation.