Forceps Manipulator with Rack Gear and Gear Train Mechanism

Abstract

By integrating locally operated surgical assistant robots in a sterilized area, a surgeon can perform safe and accurate robotically assisted laparoscopic solo surgery. A new locally operated forceps manipulator that can be used by the surgeon as a third arm during laparoscopic surgery was developed. A new 3-DOFs forceps manipulator consists of the gimbal pitch axis, a rack gear and gear train for the RCM yaw axis, a belt and pulleys for the insertion axis attached to the commercial forceps. The dimensions of the manipulator are width 130 mm * depth 360 mm * height 360 mm. The weight is 2.1 kg. The positional accuracy of the new RSM mechanism was evaluated.