Handheld laparoscopic forceps manipulator using multi-slider linkage mechanisms

This paper proposes a new handheld laparoscopic forceps manipulator using 2-DOFs bending mechanism by multi-slider linkage mechanisms and 1-DOF wire-driven grasping mechanism. Careful design of the linkage channels enables unique and independent bending procedure from -90 to 90 degrees on the horizontal and vertical plane to secure large workspace. The manipulator consists of multi-DOFs end-effector, linear-drive unit, dial-type interface and computer-based control unit. In mechanical performance analyses, 2-DOFs bending mechanism enabled high accuracy of less 1.0 mm manipulation and high bending power of up to 0.85 kgf. In vivo experiments, this manipulator performed laparoscopic surgical tasks, such as raising the liver and the stomach, and suturing the stomach surface tissue in 22.3 ± 5.4 seconds per suture. Furthermore, we operated cholecystectomy with an animal within 45 minutes. In conclusion we were sure of a usefulness of a new handheld laparoscopic forceps manipulator for speedy and dexterous laparoscopic surgery.