Title :
Design of a 4-DOF forceps manipulator for robotic surgery
Author :
Kanno, Tsuneo ; Haraguchi, Daisuke ; Tadano, Kumiko ; Kawashima, Kimiko
Author_Institution :
Inst. of Biomater. & Bioeng., Tokyo Med. & Dental Univ., Tokyo, Japan
Abstract :
In this paper, mechanical design of a forceps manipulator for minimally invasive surgery is discussed. The discussed forceps manipulator has 4-DOF link mechanism inside the abdominal cavity so that pivoting motion around the insertion point is not required. The 4-DOF forceps consists of serially-connected two flexible joints to reduce the number of mechanical parts such as pins. The length of flexible joints is designed so that it covers the desired workspace. Workspace of forceps with several link parameters are calculated using the Monte Carlo method. The configuration which achieves the broadest workspace is selected according to the calculation results.
Keywords :
Monte Carlo methods; control system synthesis; manipulators; medical robotics; surgery; 4-DOF forceps manipulator; Monte Carlo method; abdominal cavity; mechanical design; minimally invasive surgery; robotic surgery; Joints; Manipulators; Minimally invasive surgery; Springs; Wires;
Conference_Titel :
System Integration (SII), 2013 IEEE/SICE International Symposium on
Conference_Location :
Kobe
DOI :
10.1109/SII.2013.6776706
