Abstract
Laparoscopic surgery is minimally invasive surgery and receives worldwide attention recently. But it requires surgeon a high skill under the hole constrain during the surgery. Our laboratory had developed Multi-DOF forceps without using any actuators. This forceps is lighter and more compact than the actuated forceps, and has higher manipulability than the conventional forceps. But the design of controller part is still-inadequate and difficult to control by one hand. In this paper, we proposed three types of controller part which is aimed to improve the manipulability. We assessed the interface by the experiment of screw setting up task and suture task.
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