Design of master console robot for natural orifice transluminal endoscopic surgery

摘要

NOTES is new concept of surgery which can get similar result without incise patient's skin. But, it is difficult to operate with existing surgery instruments which have flexible joint and low degree of freedom. These can be overcome with a surgical robot. In this research, robot controller which can control robot arm instinctively is developed. The structure of the robot controller is similar to the robot arm so that robot arm can move similar movement of robot controller. In this paper, two methods for controlling robot arm are proposed and the feasibility of application of these methods is simulated.