Multi-DOF Forceps Manipulator System for Laparoscopic Surgery

Many problems in laparoscopic surgery are due to the poor degrees of freedom of movement (DOF) in controlling forceps and laparoscopes. The Multi-DOF forceps manipulator we have newly 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 (φ6 mm) and the small radius of curvature of bending; 2) the large force generated on each bending and grasping axis; 3) the confirmation of perfect cleanness and sterilization of this manipulator. The effectiveness of these characteristics was confirmed in actual testing by surgeons. This manipulator can solve problems met with in laparoscopic surgery, and will establish new standards for laparoscopic surgery with higher effectiveness and safety.