English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Tools annual

Global: Zendy Free Plan

Global: Zendy Tools monthly

Global: Zendy Plus monthly

This paper proposes a new handheld laparoscopic forceps manipulator using 2-DOFs bending mechanism by multi-slider linkage mechanisms and 1-DOF wire-driven grasping mechanism. Careful design of the linkage channels enables unique and independent bending procedure from –90 to 90 degrees on the horizontal and vertical plane to secure large workspace. The manipulator consists of multi-DOFs end-effector, linear-drive unit, dial-type interface and computer-based control unit. In mechanical performance analyses, 2-DOFs bending mechanism enabled high accuracy of less 1.0 mm manipulation and high bending power of up to 0.85 kgf. In vivo experiments, this manipulator performed laparoscopic surgical tasks, such as raising the liver and the stomach, and suturing the stomach surface tissue in 22.3 ± 5.4 seconds per suture. Furthermore, we operated cholecystectomy with an animal within 45 minutes. In conclusion we were sure of a usefulness of a new handheld laparoscopic forceps manipulator for speedy and dexterous laparoscopic surgery.

Handheld Laparoscopic Forceps Manipulator Using Multi-slider Linkage Mechanisms