Master-slave PTP Control System using Portable Operating Device with Forceps Inserting Guide Roller Mechanism

Abstract

A new locally operated unilateral master-slave manipulator for endoscopic surgery performed by a surgeon in a sterilized area was developed. The manipulator system consists of a portable master device and a forceps slave manipulator LODEM as the third arm. We propose the 3DOFs portable operating device with gimbals for the pitch and yaw axes, and a linear guide roller for the insertion axis though into the commercial forceps. The dimensions of the mechanical component are 90 mm × 180 mm × 120 mm, and its mass is 470 g. The operating ranges for these axes are ±60 °, ±60 °, and 200 mm, respectively. The mechanical backlash for these axes are 1.7 °, 1.4 °, and 5.2 mm, respectively. The mobile LODEM is unilateral master-slave point to point controlled by the master device. The master-slave manipulator was confirmed for these axes.