Development of master slave tool system for TUR-P

摘要

We are developing Master Slave System for TUR-P(Transurethral Resection of The Prostate).This system consists of a master arm, a slave arm, a master tool and a slave tool. In this paper we describe about a master and a slave tool. Each tools has 1 D.O.F and a force sensor, therefore it can be position and force feedback control.