C. Ishii and K. Kobayashi (Japan)
Minimally invasive surgery, Multi-DOF robotic forceps manipulator, Double-Screw-Drive mechanism
This paper proposes a novel laparoscopic forceps manipulator for minimally invasive surgery using the mechanism that we call double-screw-drive (DSD) mechanism. DSD mechanism is a link driven mechanism which enables omni-directional bending motion by rotating two linkages consisted of right-handed screw, left-handed screw and universal joint. The opening and closing motions of a gripper is also attained by rotating another linkage. Therefore, DSD mechanism realizes bending and gripping motions without using wires. The developed multi-DOF robotic forceps manipulator has a high rigidity and its bending range is large enough, which is 90 degrees in any direction.
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