Development of Endoscopic Forceps Manipulator Using Multi-slider Linkage Mechanisms

نویسندگان

  • H. Yamashita
  • A. Iimura
  • E. Aoki
  • T. Suzuki
  • T. Nakazawa
  • E. Kobayashi
  • M. Hashizume
  • I. Sakuma
  • T. Dohi
چکیده

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 manipulator 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 surgical 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 sophisticated operation for telesurgery. In conclusion we are sure of a usefulness of an endoscopic forceps manipulator for speedy and dexterous surgery.

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تاریخ انتشار 2005