The Development of human-arm like manipulator for Laparoscopic Surgery with Force sensing

This paper describes design of the dexterous manipulator for laparoscopic surgery that performs like a human whole arm and the FEM simulation result to measure the force of its tool-tip to include force-feedback loop for the future. Though a human whole arm has 7 degrees of freedom, we have designed overall 8 degrees of freedom because of considering one dof translation motion that corresponds with human body movement. Some researchers reported that if we could develop either mechanical or electromechanical tele-operators which enable surgeons to move a MIS system in a manner analogous to an open instrument, we could potentially reduce the time of current laparoscopic procedures by at least 15% and we could perhaps also enable surgeons to perform procedures which are thought currently too difficult to execute. Accordingly, we are expecting that the suggested design provides surgeon with improved dexterity during minimally invasive surgery.