ジンバル-平行リンクとベルト・プーリ機構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 partial nephrectomy. A new locally operated forceps manipulator that can be used by the surgeon as a third arm during laparoscopic surgery was developed. The DC motor driven 3-DOFs forceps manipulator consists of a gimbal-mounted parallel linkage mechanism for the pitch and the yaw axes, and a belt-pulley mechanism for the insertion axis attached to the commercial forceps. The dimensions of the manipulator are 180 mm * 270 mm * 300 mm. The weight is 1.7 kg. The positional accuracy and the mechanical deflection of the manipulator were evaluated.