3A1-A03 Development of Forceps Manipulator with Flexible Spinal Mechanism for Single Incision Laparoscopic Surgery(Medical Robotics and Mechatronics (1))

摘要

We have developed flexible forceps manipulator which has 5 degrees of freedom and an acting force of more than 5 N, and the diameter of less than 10 mm for single incision laparoscopic surgery. The purpose of this study is to be developed a wire driven manipulator which has offset axis with tiered mechanism keeping a work space, and Pitch, Yaw axes with spinal mechanism and Insertion, Roll, Open/Close axes with embedded mechanism decreasing the diameter. In this study, we propose a design of the manipulator and make a prototype. The positional accuracy is evaluated. The results of the experiments showed some improvements.