Surgical Assistant Manipulator with Rack Gear and Gear Train Mechanism for Laparoscopic Surgery

A surgeon in a sterilized area can perform robotically assisted laparoscopic solo surgery while controlling a laparoscope-holding robot for view stabilization and a forceps robot for pulling organs. A new locally operated forceps manipulator with rack gear and gear train attached to commercial surgical forceps was developed. The dimensions of the manipulator providing mechanical remote center of motion (RCM) are width 135mm * depth 400 mm * height 350 mm. The weight is 2.6 kg. The positional accuracy and the mechanical deflection of the manipulator were evaluated.