Abstract
Recently, minimally invasive surgery, which reduce the patient's burden is development. In coronary artery bypass grafting(CABG), robot-assisted MIS has held. But typically, surgical robot has straight forceps manipulator. Therefore, they can't approach to the lesion, which exist at dorsal side of the heart. We made a prototype of the forceps manipulator, which arrows an approach to the dorsal side of the heart. In This paper, we evaluated the accuracy of the bending and winding motion and measured a grip force of the manipulator. As a result, the error of the bending and winding motion is within 1.7[deg] and grip force is 0.9[N].
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