Locally operated detachable end-effector manipulator for accurate surgery

开发了一种带有可拆卸商用镊子的新型机械手，允许外科医生在患者附近工作时进行微创机器人辅助内窥镜手术。可作为外科医生第三只手臂的局部操作可拆卸末端执行器（LODEM）由(1)与外科医生共存的钳式机械臂，(2)与外科医生和机械臂协作的局部操作界面，以及(3)使用步进电机测量器官弹性的方法组成。这些设备在机器人手术应用中非常有前途。此外，该机械手减少了医护人员和等待手术的患者的费用，并成为内镜手术的广泛应用。

A new manipulator with a detachable commercial forceps was developed that allows minimally invasive robotically assisted endoscopic surgery by a surgeon working near the patient. The locally operated detachable end-effector manipulator (LODEM) that can act as a third arm for the surgeon was consisted of (1) forceps manipulator that coexisted with the surgeon, (2) locally operated interface that collaborated with the surgeon and the manipulator, and (3) method of measuring elasticity of organ using a stepper motor. These devices are highly promising for robotic surgery applications. Furthermore, this manipulator leads to reduce medical staff and the costs, patients waiting for their surgery, and become widely used endoscopic surgery.