2A1-K06 Mechanism of Differential Driven Ball-screw for Commercial Forceps of Single Port Endoscopic Surgery(Surgical Robotics and Mechatronics (1))

Abstract

Locally operated detachable end-effector manipulator (LODEM) that can support single port endoscopic surgery when operated by doctors working near the patient was developed. The 3rd arm with commercial forceps for handling internal organs collaborates and coexists with the surgeon in the clean area. We proposed a new mechanism of differential driven ball-screw for the change of orientation angle of the commercial forceps. It had four axes: pitch, yaw, roll, and open/close. The mechanism was mounted on passive gimbals at the tip of SCARA typed LODEM and driven by wires and cable-rods. We made a prototype and the dynamic characteristics were experimentally measured. The position accuracy of pitch or yaw axis was 0.4 mm respectively. The time delay of roll or open/close axis was 0.4 s respectively.