Abstract
We have developed locally operated detachable end-effector manipulator (LODEM) that can support endoscopic surgery that is operated by doctors working near the patient. The purpose of this study is to develop the manipulator with 5 axes attached to the commercial forceps. We proposed a new crank-slider and cable-rod driven manipulator. We designed the manipulator composed of a forceps-orientation arm and forceps-driven effectors. The arm had two axes: pitch and yaw. The pitch axis had the gimbal mechanism and was driven by the harmonic geared motor directly. The yaw axis at the tip of the pitch axis had the crank-slier mechanism and was driven by the electric slider. The effectors had three axes: roll, insertion and open/close. These axes had the cable-rod mechanism connected to the electric cylinders that were placed on the base of the manipulator.
