Active Forceps for Endoscopic Surgery
نویسندگان
چکیده
Endoscopic surgery has recently been adopted in various surgical operations. Forceps stuck through trocars into the abdominal or chest cavity, dissects and grasps internal organs. Due to their xed shapes, the current forceps limit the skill of surgeons. We have worked on the development of active forceps adoping shape-memory-alloy pipes and coaxicially assembling them. In this paper, we show several models that we prototyped to nd out the functional conditions of SMA pipes and their material. A 3DOF active forceps is also introduced, which posesses 6DOF inside the body being manipulated by the AESOP manipulator. A master-slave robot system is developed using it.
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