Master-slave remotely controlled manipulators such as the da Vinci systems have been developed to support for laparoscopic surgery. The manipulator is the all-in-one system constructed by integrating sub-systems such as the tool mounted arm mechanism, the DC servo actuator and the bilateral feedback controller. Thus, it is difficult to apply another development sub-system for the manipulator. To this end, we propose a modularized manipulator constructed by the tool changeable wire-driven flexible arm, the wire wind-up pulley and the actuator unit which can be interchanged between stepper motors and DC motors.
