Abstract
A new type of surgical instrument developed as a substitute for the conventional forceps manipulator for use during surgery is described. We develop the manipulator which has a multiple DOF, as a high controllability at not only the tip, but also whole body of the mechanism. The manipulator consists of a serial multiple link mechanism in which each link is the shape of an oblique circular cylinder. The position and orientation of the manipulator is changed by each link's rotation while constraining the slope and the bottom surfaces between adjacent links. Each link is connected by non-driven joints at its both ends. All links are driven by one, or two drive sources, that can be rotated one by one in turn. Since all the actuators are installed at the base (operation side) of the manipulator, an elongated manipulator can be realized. With this mechanism, it is possible to cut out and suture the target part while avoiding essential parts of the tissue as minimally invasive surgery. Thus, the new instrument can increase performance level and efficiency of surgery.
