Development of the Master-Slave Small Surgical Robot System Using Active Forceps with Tripod Platform

Abstract

To make the endoscopic surgery more precise, computer-enhanced surgical robot systems has been introduced. In this paper, we develop Active Forceps with Tripod Platform, which realizes 4 DOFs by link driven mechanism. Using this forceps, we develop master-slave surgical robot system, which occupies less amount of space of operation room than current robot systems.