Patent ID: 6120433
Filing Date: 2000-09-19
Classification: A61B

Abstract:
A surgical manipulator system comprising:a slave manipulator which is movable to be positioned in a surgery region;a medical device having a distal end, said medical device being held by the slave manipulator and being movable into a body cavity;operation means for operating the slave manipulator and the medical device, said operation means being positioned within a movement region in which a surgeon can freely operate; andcontrol means for calculating conditions in which said slave manipulator needs to be moved in response to a movement of said operation means, said control means being operable in at least a first control mode in which at least one of said slave manipulator and said medical device is moved in the conditions calculated and in association with the movement of the operation means such that a longitudinal axis of said medical device always passes one fixed point in space even before the medical device is inserted into a body cavity, said fixed point being set before a surgical operation by reading coordinates of the fixed point in space.