JRM Vol.28 No.4 pp. 559-567
doi: 10.20965/jrm.2016.p0559


Pneumatically Driven Multi-DOF Surgical Forceps Manipulator with a Bending Joint Mechanism Using Elastic Bodies

Kyouhei Takikawa*, Ryoken Miyazaki*, Takahiro Kanno*, Gen Endo**, and Kenji Kawashima*

*Tokyo Medical and Dental University
2-3-10 Kanda-Surugadai, Chiyoda-ku, Tokyo 101-0062, Japan

**Tokyo Institute of Technology
2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan

January 25, 2016
May 31, 2016
August 20, 2016
surgical robot, forceps manipulator, flexible mechanism, pneumatic system, wire drive robot

Pneumatically Driven Multi-DOF Surgical Forceps Manipulator with a Bending Joint Mechanism Using Elastic Bodies

Proposed pneumatically driven multi-DOF surgical forceps manipulator

In this study, a pneumatically-driven forceps manipulator was developed for a master-slave-type surgical robot. The proposed manipulator had two flexible joints, one for the bending joint at the tip and the other for transmitting a bending force from the actuators to the wires of the forceps. The manipulator had two degree-of-freedoms (DOFs) of bending driven by only two pneumatic cylinders and a gripper driven by a cylinder. Given the interoperability in real surgery, a mechanism was proposed such that the clean forceps part could be easily attached to and detached from the filthy drive unit. An experiment of the master-slave-system was conducted with the proposed manipulator to verify the tracking performance of the cylinders’ position and the bending angle of the forceps manipulator.

Cite this article as:
Kyouhei Takikawa, Ryoken Miyazaki, Takahiro Kanno, Gen Endo, and Kenji Kawashima, “Pneumatically Driven Multi-DOF Surgical Forceps Manipulator with a Bending Joint Mechanism Using Elastic Bodies,” J. Robot. Mechatron., Vol.28, No.4, pp. 559-567, 2016.
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