To make the endoscopic surgery more precise and more accessible, computer-enhanced surgical robot systems are introduced and accepted in the surgical community. Present surgical robot systems unfortunately occupy a significant amount of space in operating rooms. It sometimes prohibits surgeons from emergency access to the patient. In this paper, we propose a design of small occupancy robots for endoscopic surgery. The design concept consists of three components. Namely, the Active Forceps, the Active Trocar, and the passive positioner. The detailed design of the Active Forceps and the Active Trocar presented, and the performance of prototypes are also reported.

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To make the endoscopic surgery more precise, computer-enhanced surgical robot systems has been introduced. In this paper, we develop Active Forceps with Tripod Platform, which realizes 4 DOFs by link driven mechanism. Using this forceps, we develop master-slave surgical robot system, which occupies less amount of space of operation room than current robot systems.