Forceps Manipulator with Diagonal Joint Mechanism

By integrating locally operated small surgical robots in a sterilized area, a surgeon can perform safe and accurate robotically assisted laparoscopic surgery. A new locally operated forceps manipulator that can be used by the surgeon as a third arm during laparoscopic surgery was developed. The new stepping motor driven 3-DOFs forceps manipulator consists of a diagonal joint mechanism for the yaw and pitch axes, and a telescopic multi screws and sliders for the insertion axis attached to the commercial forceps. The dimensions of the manipulator are width 190 mm * depth 340 mm * height 165 mm. The weight is 2.0 kg. The operating range is -90° to 30° for the yaw axis, -45° to 90° for the pitch axis, and 200 mm for the insertion axis.