円環ガイドレールと直動ガイドローラを備える鉗子マニピュレータ

抄録

By integrating locally operated small surgical robots in a sterilized area, a surgeon can perform safe and accurate robotically assisted laparoscopic surgery. At present, there is no locally operated forceps manipulator that can operate within a small space while providing a wide working area on the abdominal wall. In the present study, a new wire-tube driven 3-DOFs forceps manipulator based on the polar coordinate system with two circular ring guided rails for the yaw and pitch axes, and a linear guide roller for the insertion axis though into the forceps that can act as a third arm for the surgeon was designed. The dimensions of the manipulator are 160 mm in outer diameter * 180 mm in height. The operating range is ± 180° for the yaw axis, ± 45° for the pitch axis and 150 mm for the insertion axis.