In this paper, based on the technology of robotics and related to the characteristic,main technology and applicability of EMIS, the primary and subordinate system ofMIS robot is designed.

• 本文在机器人技术的基础上,结合腹腔镜微创外科手术的特点、技术要点和手术适用范围,进行主从式微创手术机器人系统的设计。