Construction of master-slave training simulator for endoscopic surgery

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Recently, there have been several cases of mistakes during endoscopic surgery. In general, 89.[%] of the medical errors in endoscopic surgery is due to skill shortage of the doctor. There are training machines for endoscopic surgeries that are being used today. However, with the current training methods it is difficult to acquire the appropriate skills for a correct usage of the forceps. Because they can't train how to use the forceps in the right way, the doctors have to depend on their senses. Therefore, a robot for learning how to use the forceps is needed. This research describes new training simulators for endoscopic surgery which are using the master-Slave system. The system consists of a master robot which an experienced doctor controls and a Slave robot which the trainees use. The experienced doctor controls the master robot and the Slave robots work in the same motion as the Master robot. The trainees just put their hands on the Slave robot and thus, they can experience a sensation of controlling the forceps by themselves.