Frishauf, Holtz, Goodman, Langer & Chick, P.C.
Surgical manipulator system
 A surgical manipulator system comprising an operation device, a slave manipulator, a medical device, and a controller. The operation device is located in a region to be operated by a surgeon. The slave manipulator can have access into a surgery region. The medical device is held by the slave manipulator and can be moved a body cavity. The controller can operate in a first mode to move the slave manipulator or the medical device, or both, such that the axis of the medical device passes a fulcrum fixed in a space even before the medical device is inserted into the body cavity. 
Olympus Optical Co., Ltd.
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A61B A61B A61B A61B A61B
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Nobuyuki Toshimasa Hitoshi
Dohguchi Kawai Mizuno