抄録
A new manipulator with a detachable commercial forceps has developed that can act as a third arm for a surgeon situated in a sterile area near the patient. A mobile locally operated detachable end-effector manipulator (LODEM) with back-drivability was developed and tested. This device uses electromagnetic brake for pitch and yaw axes, and wire transmission for insertion axis to achieve both manually-operable and motor-drivable manipulator. The mass was 5.8kg. The manually-operable force was less than 10N, sufficient for back-driving arm. The motor-drivable force was more than 10N, sufficient for pulling organs. The positional accuracy was 0.5mm, acceptable for handling organs. A mobile LODEM 3.0 was designed that allows minimally invasive robotically assisted endoscopic surgery.
