One kind by servo baric systerm driving Minimally Invasive Surgery operator,This operator is made of five parts,First part is that the driving unit composed by three pneumatic cylinders is used to drive carrying sliding block and then penetrates steel cable to drive front end rotating mechanism,Second part is the measurement unit being made of open optical ruler and carrying sliding block,For measuring the displacement of each pneumatic cylinder,Part III is the outer tube of operator,Have in this part installation two groups by spring,Groups of springs composed by slide-bar and fixed block,For cooperating the running of pneumatic cylinder driving,Part IV is double freedom rotating mechanism,For being able to carry out finer and smoother movement in surgical procedure,Part V is replaceable instrument front end mechanism,This mechanism in combination with existing multiple functions surgical instrument front end (tip),Its operator is set to replace this surgical instrument front end,Enable operator is multiduty to apply on operation executes,Two pneumatic cylinders of operator driving rotating mechanism are driven by two pneumatic servo valves,Third is used to drive the pneumatic cylinder of instrument front end machine structure that can be driven with servo valve or solenoid valve.一種由伺服氣壓系統驅動之微創手術操作器，此操作器由五個部分組成，第一部分為由三個氣壓缸所組成的驅動單元用來驅動承載滑塊進而透過鋼繩來驅動前端旋轉機構，第二部分為由開放式光學尺與承載滑塊組成之量測單元，用來量測各氣壓缸之位移，第三部分為操作器之外管，此部分內有安裝兩組由彈簧、滑軸與固定塊所組成的彈簧組，用來配合氣壓缸驅動的運作，第四部分為雙自由度旋轉機構，用來在手術操作時能夠執行更細膩的動作，第五部分為可替換式器械前端機構，此機構可結合現有多種功能的手術器械前端(tip)，使其操作器能夠更換此手術器械前端，使操作器能多用途的應用在手術執行上，操作器驅動旋轉機構之兩個氣壓缸由兩個氣壓伺服閥來驅動，第三個用來驅動器械前端機構之氣壓缸可用伺服閥或電磁閥來驅動。
