Pneumatically-Driven Hand-held Forceps with Wrist Joint Operated by Built-in Master Controller

Abstract

In this research, we developed a surgical robotic system which consists of pneumatically-driven hand-held forceps with 2-dof wrist joint and 4-dof forceps holder. A master-slave type wrist joint, in which the master is integrated the hand-held forceps itself, is proposed. Moreover, intuitive operation is realized by an active transformation from the surgeon's wrist-rotation to the tip-rotation using an IMU and the pneumatic cylinders. Finally, we experimentally confirmed the joints and the tip rotation controls are satisfactory.