スライダクランクと平行リンクの差動機構を備える鉗子マニピュレータ

抄録

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 with differential mechanism that can be used by the surgeon as a third arm during laparoscopic surgery has been developed. The forceps manipulator attached to commercial surgical forceps consists of the gimbal pitch axis, the RCM differential mechanism using slider cranks and parallel links for the insertion and yaw axes. The dimensions of the manipulator are width 145 mm * depth 420 mm * height 340 mm. The weight is 3.4 kg.