A Handheld Laparoscopic Forceps Manipulator using Multi-Slider Linkage Mechanisms

概要

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This paper proposes a new handheld laparoscopic forceps manipulator for laparoscopic surgery using 2 bending mechanisms by multi-slider linkage mechanisms to achieve high mechanical performance and applicability. A bending mechanism consisted of 3 outer frames, 2 rotating joints and 2 sliding linkages for drive and restraint. The rotation of the joint was available by pulling/pushing the adjacent element by sliding linkage in order. We connected 2 bending mechanisms, one was for the horizontal plane bending and the other was for the vertical plane bending, enabling 2-DOFs independent motions between -90 degrees and +90 degrees. The 2-DOFs bending mechanism and 1-DOF forceps mechanism were driven by 3 brushless DC-servomotors. We examined the actual angle of 2-DOFs bending mechanism, obtaining repeatability of ±0.87 degrees in the horizontal plane bending and ±0.91 degrees in the vertical plane bending. In an animal experiment this manipulator performed laparoscopic surgical tasks under pneumoperitoneum. In conclusion, we were sure of a usefulness of multi-slider linkage mechanisms for the new handheld forceps manipulator to clinical application, which showed high repeatability of less 1.0mm manipulation and large working space with sufficient generated power of end-effector.
日本コンピュータ外科学会の論文