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MiroSurge is a presently prototypic robotic system (as of 05/2012) designed mainly for research 〔(【引用サイトリンク】url=http://www.miti.med.tum.de/index.php?id=44 )〕 〔(【引用サイトリンク】url=http://www.compamed-tradefair.com/cipp/md_compamed/custom/pub/content,oid,20792/lang,2/ticket,g_u_e_s_t/~/%E2%80%9COur_goal_here_was_to_research_robotic_components%E2%80%9C.html )〕 〔(【引用サイトリンク】url=http://lsro.epfl.ch/safros )〕 in minimally invasive telesurgery. In the described configuration, the system is designed according to the master slave principle and enables the operator to remotely control minimally invasive surgical instruments including force/torque feedback. The scenario is developed at the Institute of Robotics and Mechatronics (RMC) within the German Aerospace Center (DLR). The system consists of * Three to five MIRO robot arms at the operation table, * Minimally invasive instruments (MICA), * a HD Stereo endoscope, * surgical workstation with two force/torque reflecting input devices and stereo vision, and * a planning suite for the robotic setup. Besides the semi-autonomous motion compensation, the system exclusively is a telemanipulator at any time and the surgeon at the workstation has full control of the surgical instruments. To change instruments or to introduce the robot setup, and for safety reasons a surgical assistant is present in the operating room (OR). == MIRO robot arm == MIRO is a lightweight robot (mass: approx. 10 kg, i.e. 353 US oz) with an optimized design for surgical applications. *Payload approximately 3 kg *7 degrees of freedom (DoF) *Joint-sided torque sensors *3 kHz Cartesian control cycle In the minimally invasive setup MiroSurge, the MIRO arms are mounted directly to the side-rails of the operation table. As the robot has full 6 DoF motion capabilities, the trocar can be located almost arbitrary within the robot’s workspace. Due to the additional DoF (joint) of the robot, a nullspace (elbow) motion is possible during operation of the robot, which is utilized for collision avoidance. 抄文引用元・出典: フリー百科事典『 ウィキペディア（Wikipedia）』 ■ウィキペディアで「MiroSurge」の詳細全文を読む スポンサード リンク
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