Small occupancy robotic mechanisms for endoscopic surgery

Abstract

To make the endoscopic surgery more precise and more accessible, computer-enhanced surgical robot systems are introduced and accepted in the surgical community. Present surgical robot systems unfortunately occupy a significant amount of space in operating rooms. It sometimes prohibits surgeons from emergency access to the patient. In this paper, we propose a design of small occupancy robots for endoscopic surgery. The design concept consists of three components. Namely, the Active Forceps, the Active Trocar, and the passive positioner. The detailed design of the Active Forceps and the Active Trocar presented, and the performance of prototypes are also reported.