Abstract
In this paper, an outer shell type 2 DOF bending manipulator using spring-link mechanism is presented. In medical robotic applications for endoscopy, a small-sized multiple DOF manipulator within medical treatment devices (such as endoscope, suction tube, electric knife and so on.) will be beneficial. The spring-link mechanism is a combination of a fiat spring and a rigid link with a passive joint connection. The outer shell bending manipulator is composed by four spring-link mechanism. By locating the four spring-link mechanism around the manipulator, it is possible to place medical devices inside of the manipulator. The advantages of the manipulator comparing conventional manipulators are: high rigidity, high precision and outer shell structure.
