抄録
Recent active developments of master-slave systems to assist laparoscopic surgical operations are focused on the development of various forceps manipulators with bending DOFs at the tip. In this paper, we focus on a suturing operation. That is one of the most difficult tasks in laparoscopic surgery. In order to assist the operation, we have developed a new forceps having manipulation mechanism in which a micro pneumatic cylinder are in combined use to manipulate a needle at the tip. Besides it has gripping mechanism which generates strong gripping forces without causing interference to other joints, hence this forceps is adequate for suturing. We also conduct experiments on confirming the motion of manipulation.
