DEVELOPMENT OF ENDOSCOPIC FORCEPS MANIPULATOR USING MULTI-SLIDER LINKAGE MECHANISMS

Abstract

This paper proposes an endoscopic forceps manipulator with 2-DOFs bending mechanism by multi-slider linkage mechanisms and 1-DOF wire-driven grasping mechanism. Careful design of the linkage channels and restoring springs enabled unique, independent and stable bending procedure from � �� �90 to 90 degrees on the horizontal and vertical plane to secure large working space. The manipula- tor consisted of a multi-DOFs end-effector, three linear-drive units and a computer-based control unit. For the interface, various systems were available according to the application, such as a handheld-type and a master-slave-type. In mechanical performance analyses, 2-DOFs bending mechanism enabled high accuracy of less 1.0 degree manipulation and stable bending power of up to 0.85 kgf. In vivo experiments, this manipulator performed some laparoscopic sur- gical tasks, such as raising the liver and the stomach, suturing and ligation the cystic duct. In master-slave control evaluation, we confirmed a possibility of so- phisticated operation for telesurgery. In conclusion we are sure of a usefulness of an endoscopic forceps manipulator for speedy and dexterous surgery.