Development of the dexterous manipulator and the force sensor for Minimally Invasive Surgery

This paper describes the design and the performance results of a dexterous manipulator for minimally invasive surgery (MIS) that performs like a human arm. The design of the loadcell to measure the force of its tool-tip and its method are also presented for including a force-feedback loop in the future. Because a human whole arm has 7 degrees of freedom (DoF), we have also designed 7 DoF manipulator. Some researchers reported that the development of either mechanical or electromechanical teleoperators, which would enable surgeons to move a MIS system in a manner analogous to an open instrument, the time of current laparoscopic procedures could potentially be reduced by at least 15%. Furthermore, it is also possible that surgeons would be able to perform procedures currently considered too difficult to execute. Additionally, improved haptic Information is a helpful to perform the surgery safer and faster. Accordingly, we are expecting that the suggested design will provide surgeons with improved dexterity and advanced haptic feeling during minimally invasive surgery.