On servo experiment of a new multi-DOF robotic forceps manipulator for minimally invasive surgery

In resent years, many of multi-DOF robotic forceps manipulators for minimally invasive surgery have been proposed. We have developed a new robotic forceps manipulator using the double-screw-drive (DSD) mechanism, which enables omni-directional bending motion by rotating two linkages consisted of right-handed screw, left-handed screw and universal joint. Also we have improved the first prototype DSD forceps manipulator so that its gripper can rotate, so far. This paper presents servo experimental results for the developed second prototype DSD robotic forceps manipulator by teleoperation.