Telesurgery system using surgical master device type of 3PUU

摘要

In this paper, we describe a Telesugery system for spinal surgery and the results of a spinal surgery experiment on pigs. In order to operate the slave robot, 3PUU type master device was used. In the case of spinal surgery, a catheter is inserted deeply and most of the operations are finely manipulated in a narrow space. For this particular operation, a 3PUU type master device that can move a lot in the Z axis is suitable. We built the system and performed a performance verification experiment by a surgeon. The experiment was conducted twice for the actual pig's spine surgery. In both experiments, the surgeon operated the system directly and reflected the surgeon's feedback.