Mechanical Error Analysis of Compact Forceps Manipulator for Laparoscopic Surgery

Suzuki, Takashi; Katayama, Yoichi; Kobayashi, Etsuko; Sakuma, Ichiro

doi:10.5772/5265

Cited by 2 publications

(1 citation statement)

References 9 publications

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“…This mechanism is too big and cannot be used in cardiac surgery robot. The next mechanism is gimbals mechanism [6], but it does not have a position loop of the laparoscope sleeve. In the literature there is no mathematical model of this kind of drive mechanism, which is presented in the paper.…”

Section: Introductionmentioning

confidence: 99%

Mathematical Model of the Servo Drive with Friction Wheals. Simulations and Real Object Examination Results

Fracczak

2013

SSP

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In this paper the servo drive with friction wheels is presented. The servo drive is designed to move the automatic laparoscope tool or laparoscope camera (thereinafter laparoscope sleeve or sleeve) in two Degrees of Freedom (DOF). The description of the drive mechanism, operating principle and mathematical model of this drive is presented. Based on this model, the Control System (CS) has been created, and used to the construction of a simulation model. The simulation illustrates the proper functionality of the mathematical model of the servo drive with the described CS. This paper also presents the servo drive test stand and the most important examination results from the point of view of using them in the cardiac surgery Robin Heart robot.

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Section: Introductionmentioning

confidence: 99%

Mathematical Model of the Servo Drive with Friction Wheals. Simulations and Real Object Examination Results

Fracczak

2013

SSP

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Portable Forceps Manipulator with Closed Loop Mechanism using Gimbal-mounted Parallel Linkage for Endoscopic Surgery

Han

Kawai

Nishikawa

et al. 2020

JJSCAS

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A new locally operated detachable end-effector manipulator(LODEM)as the portable forceps robot that can be used by a surgeon as a third arm during laparoscopic surgery was developed. The portable forceps manipulator which has motor controlled three DOFs consists of a separable pivot restraint device that can be sterilized and an actuator unit draped with a sterilized cover. This manipulator uses a gimbal-mounted parallel linkage mechanism of the closed loop structure for the pitch and the yaw axes, and a wire driven linear slider mechanism for the insertion axis attached to the forceps. The manipulator placed above the abdominal wall using a fixed arm connected to a bed rail is motor controlled by a handheld interface with button switches. The positional accuracy and the mechanical deflection of the manipulator were evaluated. Simulated laparoscopic cholecystectomy using the prototype manipulator was performed on a surgically realistic gall bladder model. It was confirmed that the organ model could be pulled in various directions using the forceps attached to the manipulator manually and driven by the motors. The results of the present study indicate that the proposed manipulator could be used for robotically assisted laparoscopic surgery by a surgeon working near the patient.

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Mechanical Error Analysis of Compact Forceps Manipulator for Laparoscopic Surgery

Cited by 2 publications

References 9 publications

Mathematical Model of the Servo Drive with Friction Wheals. Simulations and Real Object Examination Results

Mathematical Model of the Servo Drive with Friction Wheals. Simulations and Real Object Examination Results

Portable Forceps Manipulator with Closed Loop Mechanism using Gimbal-mounted Parallel Linkage for Endoscopic Surgery

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