Multi-DOF Forceps Manipulator System for Laparoscopic Surgery - Mechanism Miniaturized & Evaluation of New Interface

The Multi-DOF forceps manipulator we developed has two additional DOF of bending on the tip of forceps, and provides new surgical fields and techniques for surgeons. The most remarkable characteristics of the prototype described in this paper are: 1) the small diameter and the small radius of curvature of bending; 2) the confirmation of perfect cleanness and sterilization of this manipulator. In this paper, we will show some new mechanisms of the forceps manipulator. Firstly, we made new mechanism of bending forceps. Using the mechanism, we made new prototype of forceps manipulator which diameter is 5mm. Secondly, we developed new concept of man-machine interface for the system. It will show the new control method and surgeons can operate surgeries with more dexterity and without confusion. We evaluated the system including new interface on typical laparosurgical procedure using simulator, and confirmed the effectiveness of this concepts.