Abstract
In this study we developed a pneumatically-driven manipulator of the master-slave-type surgical robot. The manipulator has dual flexible joints and be capable of grasping and bending the tip in two degrees of freedom by two pneumatic cylinders. Considering the interoperability in real surgery, we proposed a mechanism so that the clean forceps part can be easily attached to and detached from the filthy drive unit. To verify the tracking performance, we actually conducted an experiment of the master-slave-system with the proposed manipulator.
