The Dexterous human-arm like manipulator for Laparoscopic Surgery
This paper describes design of the dexterous manipulator for laparoscopic surgery that performs like a human whole arm and the FEM simulation result to measure the force of its tool-tip for including force-feedback loop. Though a human whole arm has 7 degrees of freedom, we have designed overall 8 degrees of freedom because of considering one dof translation motion that corresponds with human body movement. Some researchers reported that if we could develop either mechanical or electromechanical tele-operators which enable surgeons to move a MIS system in a manner analogous to an open instrument, we could potentially reduce the time of current laparoscopic procedures by at least 15% and we could perhaps also enable surgeons to perform procedures which are currently too difficult. Accordingly, we are expecting that the suggested design provides surgeon with improved dexterity during minimally invasive surgery.
KeywordsLaparoscopy Robotic surgery Teleoperation
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