Compact forceps manipulator with a spherical-coordinate linear and circular telescopic rail mechanism for endoscopic surgery

Compact forceps manipulator with a spherical-coordinate linear and circular telescopic rail... Int J CARS (2017) 12:1345–1353 DOI 10.1007/s11548-017-1595-4 ORIGINAL ARTICLE Compact forceps manipulator with a spherical-coordinate linear and circular telescopic rail mechanism for endoscopic surgery 1 1 2 3 Toshikazu Kawai · Hiroyuki Hayashi · Yuji Nishizawa · Atsushi Nishikawa · 4 4 2 5 Ryoichi Nakamura · Hiroshi Kawahira · Masaaki Ito · Tatsuo Nakamura Received: 26 December 2016 / Accepted: 24 April 2017 / Published online: 5 May 2017 © CARS 2017 Abstract a new spherical-coordinate manipulator with a linear tele- Purpose By integrating locally operated small surgical scopic rail and two circular telescopic rails that can act as a robots in a sterilized area, a surgeon can perform safe third arm for the surgeon has been developed. and accurate robotically assisted laparoscopic surgery. At Methods A compact locally operated detachable present, there is no locally operated compact forceps robot end-effector manipulator (LODEM) was developed. This that can operate within a small space while providing a wide manipulator uses circular telescopic rails with linkage mech- working area on the abdominal wall. In the present study, anisms for the yaw and pitch axes, and a linear telescopic rail for the insertion/extraction axis is attached to forceps. The dimensions of http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png International Journal of Computer Assisted Radiology and Surgery Springer Journals

Compact forceps manipulator with a spherical-coordinate linear and circular telescopic rail mechanism for endoscopic surgery

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Publisher
Springer International Publishing
Copyright
Copyright © 2017 by CARS
Subject
Medicine & Public Health; Imaging / Radiology; Surgery; Health Informatics; Computer Imaging, Vision, Pattern Recognition and Graphics; Computer Science, general
ISSN
1861-6410
eISSN
1861-6429
D.O.I.
10.1007/s11548-017-1595-4
Publisher site
See Article on Publisher Site

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