Patent ID: 7572253

Claim:
A surgical operation device comprising a master that detects movement of a body of an operator and a slave that performs surgery on tissue by moving in accordance with information on the detected movement of the body of the operator, the information supplied from the master, the slave comprising a holder for holding an operation appliance or an affected area, wherein: when an orthogonal coordinate system in a space is formed of XYZ coordinate axes, the master comprises: an distal operation section that is to be held by a finger of the operator; a first sensor that detects a pressure applied on the distal operation section by the finger of the operator; a second sensor that detects movement of the distal operation section along an orientation of an X-axis; a third sensor that detects movement of the distal operation section along an orientation of a Y-axis; a fourth sensor that detects movement of the distal operation section in along an orientation of a Z-axis; a fifth sensor that detects rotation of the distal operation section about the Z-axis; a sixth sensor that detects flexion/extension of a wrist of the operator; a seventh sensor that detects ulnar/radial deviation of the wrist of the operator; and an eighth sensor that detects rotation of the wrist of the operator; and when an orientation of forward/backward movement of the holder is indicated by Z′-axis, and axes each of which are orthogonal to the Z′-axis are indicated by an X′-axis and a Y′-axis, the X′Y′Z′ coordinate axes being an orthogonal coordinate system, the slave comprises an arm supporting the holder; the holder comprises a nipping section for pinching an operation appliance or an affected area, and a base section supporting the nipping section; the nipping section increases/reduces a degree of pinching in reaction to the pressure applied to the distal operation section and detected by the first sensor; the base section moves respectively along orientations of the X′, Y′, and/or Z′ axes corresponding to respective movement amounts detected by the second sensor to the fourth sensor, and rotates about the Z′-axis corresponding to a rotation amount detected by the fifth sensor; and the arm rotates on respective joints in the arm corresponding to amount and orientation of movement detected by the sixth sensor and by the seventh sensor, and rotates on an inner axis in accordance with a rotation amount detected by the eighth sensor.