3A1-D02 Development of Forceps Manipulator with Clank-slider and Parallel Linkage Mechanism for laparoscopic Surgery(Medical Robotics and Mechatronics (1))

Abstract

We have developed a mobile and locally operated detachable end-effector manipulator (LODEM) which has 5 degrees of freedom and an acting force of more than 5 N, and can act as a third arm for a surgeon in a sterile area near the patient. The purpose of this study is to be developed a manipulator which uses clank-slider and parallel linkage mechanisms keeping a space on the abdominal wall, and wire connected cable rod mechanisms increasing the transmission efficiency. These actuators are placed on the center of gravity deadening the vibrations. In this study, we propose a design of the manipulator and make a prototype. The positional accuracy and transmission efficiency are evaluated. The results of the experiments showed the high accuracy and acting force.