Abstract
A new manipulator with a detachable commercial forceps has developed that can act as a third arm for a surgeon situated in a sterile area near the patient. A compact locally operated detachable end-effector manipulator (LODEM) with linear and circular slide mechanism was developed and tested. This device is a spherical-coordinate manipulator and uses circular stair-like slider for yaw and pitch axes, and linear telescopic slider for insertion axis to make wide working space on abdominal wall. The mass was 250g. The shortened size was 180^*60^*60mm and the expanded size was 230^*100^*60mm. The positional accuracy was 0.2mm, 1.2mm and 0.5mm respectively. A mechanism of compact LODEM was designed that allows minimally invasive robotically assisted endoscopic surgery.
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