Development of a 5 DoF dexterous manipulator executable inside abdomen for Minimally Invasive Surgery

Development of a 5 DoF dexterous manipulator executable inside abdomen for Minimally Invasive Surgery

  This paper describes the design of a dexterous manipulator for Minimally Invasive Surgery (MIS) that performs like a human arm. FEM simulation results to measure the force of its tool-tip are also presented to include a force-feedback loop in the future. Though a human whole arm has 7 degrees of freedom, we have designed 8 degrees of freedom overall owing to consideration of one DoF translation motion that corresponds with human body movement. Some researchers reported that the development of either mechanical or electromechanical teleoperators, which would enable surgeons to move a MIS system in a manner analogous to an open instrument, the time of current laparoscopic procedures could potentially be reduced by at least 15%. Furthermore, it is also possible that surgeons would be able to perform procedures currently considered too difficult to execute. Accordingly, we are expecting that the suggested design will provide surgeons with improved dexterity during minimally invasive surgery.