Study of Minimum Invasive Remote Surgery in the Abdomial Cavity

1.超级内窥镜的功能进展我们开发了各种类型的控制论致动器内置在传统的超级内窥镜，这取决于发电功率和响应。此外，安全性的理论研究也在不断发展.训练用虚拟内窥镜系统的改进实现了力觉功能，对传统的训练用虚拟内窥镜系统进行了改进。建立了内窥镜力觉实时模型和理论模型.微创远程手术基础系统我们研制了基于控制论驱动器的脑腔内微创远程手术系统的总体设计和控制系统。在力响应和动态自由度方面都有较大的改善。

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.