Abstract
In this study, a novel forceps manipulator is proposed to mount on the arm of a surgical robot developed for single port surgery (SPS) in our laboratory, which is built by remodeling a ready-made forceps. The manipulations of the ready-made forceps are grasping, rotation of the tip part and two degrees of freedom bending of the tip part. The proposed forceps manipulator can perform these manipulations by remote control, since it is motor driven. In addition, bending manipulation of the tip part can be manipulated by manual operation through changing the corresponding parts. In order to verify the validity of the developed forceps manipulator, experiments of master slave control using the master device were carried out.
