Multi-DOF forceps manipulator system for laparoscopic surgery

Ryoichi Nakamura, Etsuko Kobayashi, Ken Masamune, Ichiro Sakuma, Takeyoshi Dohi, Naoki Yahagi, Takayuki Tsuji, Daijo Hashimoto, Mitsuo Shimada, Makoto Hashizume

Research output: Chapter in Book/Report/Conference proceedingConference contribution

15 Citations (Scopus)


Many problems in laparoscopic surgery are due to the poor degrees of freedom of movement (DOF) in controlling forceps and laparoscopes. The Multi-DOF forceps manipulator we have newly developed has two additional DOF of bending on the tip of forceps, and provides new surgical fields and techniques for surgeons. The most remarkable characteristics of the prototype described in this paper are: 1) the small diameter (φ6 mm) and the small radius of curvature of bending; 2) the large force generated on each bending and grasping axis; 3) the confirmation of perfect cleanness and sterilization of this manipulator. The effectiveness of these characteristics was confirmed in actual testing by surgeons. This manipulator can solve problems met with in laparoscopic surgery, and will establish new standards for laparoscopic surgery with higher effectiveness and safety.

Original languageEnglish
Title of host publicationMedical Image Computing and Computer-Assisted Intervention - MICCAI 2000 - 3rd International Conference, Proceedings
EditorsScott L. Delp, Anthony M. DiGoia, Branislav Jaramaz
PublisherSpringer Verlag
Number of pages8
ISBN (Print)3540411895, 9783540411895
Publication statusPublished - 2000
Event3rd International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2000 - Pittsburgh, United States
Duration: Oct 11 2000Oct 14 2000

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Other3rd International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2000
Country/TerritoryUnited States

All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • Computer Science(all)


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