Space Securing in Minimally Invasive Surgery -Examination of Operation System for Multi-DOF Manipulator

This paper describes the development and experimental results of a master manipulator for the Workspace-creation manipulator for minimally invasive surgery. The master manipulator was developed for the purpose of maximizing the doctor's facility for performing operations. Therefore, the master manipulator needs to be easy to use for the doctor. This master manipulator which was developed has three degrees of freedom to control the Workspace-creation manipulator that has eleven degrees of freedom. And the authors studied new operation system with image of MRI.